In [1]:
import numpy as np
import torch
import random
from collections import deque
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
import datetime
import pickle
import math
import matplotlib.pyplot as plt
In [2]:
def plot_learning_curve(x, scores, figure_file):
running_avg_score = np.zeros(len(scores))
for i in range(len(running_avg_score)):
running_avg_score[i] = np.mean(scores[max(0, i-100):(i+1)])
plt.plot(x, running_avg_score, '-b')
plt.title('Média móvel das últimas 100 pontuações')
plt.savefig(figure_file)
def plot_success_curve(x, successes, figure_file):
running_success_rate = np.zeros(len(successes))
for i in range(len(running_success_rate)):
running_success_rate[i] = np.mean(successes[max(0, i-50):(i+1)])
plt.plot(x, running_success_rate, '-g')
plt.title('Taxa de sucesso dos últimos 50 episódios')
plt.savefig(figure_file)
def plot_step_curve(x, steps, figure_file):
running_step_avg = np.zeros(len(steps))
for i in range(len(running_step_avg)):
running_step_avg[i] = np.mean(steps[max(0, i-200):(i+1)])
plt.plot(x, running_step_avg, '-g')
plt.title('Média móvel da duração dos últimos 200 episódios')
plt.savefig(figure_file)
In [3]:
import mujoco
import mediapy as media
import random
class MujocoEnv1_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 25
self.name = "MujocoEnv-v1-0"
self.theta1 = 0
self.theta2 = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.05
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.data.qpos[0:3] = [-1,-1,2.5]
self.data.qvel[0:3] = [2.75,1,3]
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0)
def calculaTarget(self):
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
tempo_queda = (vz0+np.sqrt(np.abs(vz0**2+2*9.8*(z0-0.589))))/9.8
targetx = x0 + tempo_queda*vx0
targety = y0 + tempo_queda*vy0
return targetx, targety
def calculaDistanciaTarget(self, targetx, targety):
return np.sqrt((self.data.geom_xpos[9,0].copy()-targetx)**2 + (self.data.geom_xpos[9,1].copy()-targety)**2)
def calculaDistancia(self):
xo,yo,zo = self.data.geom_xpos[1].copy()
xc,yc,zc = self.data.geom_xpos[9].copy()
return np.sqrt((xo-xc)**2+(yo-yc)**2+(zo-zc)**2)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget(*self.calculaTarget())
reward = -5*distancia
if self.data.time > 3 or self.data.qpos[2] < 0.2:
done = True
if self.calculaDistancia() < 0.05:
done = True
reward += 200
print('success')
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget(*self.calculaTarget())
reward = -10*distancia**2
if self.data.time > 3 or self.data.qpos[2] < 0.2:
done = True
if self.calculaDistancia() < 0.05:
done = True
reward += 200
print('success')
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0), reward, done
class MujocoEnv1_1:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 25
self.name = "MujocoEnv-v1-1"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
return (xc,yc,self.targetx,self.targety)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
class MujocoEnv1_2:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 25
self.name = "MujocoEnv-v1-2"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety), reward, done
class MujocoEnv0_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 25
self.name = "MujocoEnv-v0-0"
self.theta1 = 0
self.theta2 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.05
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
xc,yc,zc = self.data.geom_xpos[9].copy()
ang = random.uniform(-np.pi,np.pi)
r = random.uniform(1,1.7)
self.targetx = r*np.sin(ang)
self.targety = r*np.cos(ang)
return (xc,yc,self.targetx,self.targety)
def calculaDistanciaTarget(self, targetx, targety):
return np.sqrt((self.data.geom_xpos[9,0].copy()-targetx)**2 + (self.data.geom_xpos[9,1].copy()-targety)**2)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget(self.targetx,self.targety)
reward = -2*distancia -2
if self.data.time > 5:
done = True
if distancia < 0.15:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget(self.targetx,self.targety)
reward = -2*distancia -2
if self.data.time > 5:
done = True
if distancia < 0.15:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
class MujocoEnv2_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 25
self.name = "MujocoEnv-v2-0"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
print(self.data)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < 0.05:
done = True
reward += 200
print('success')
self.tfin = self.data.time
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < 0.05:
done = True
self.tfin = self.data.time
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
class MujocoEnv2_1:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 25
self.name = "MujocoEnv-v2-1"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.dist = 0.45
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
self.angle = 0
self.radius = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def setNextDistancia(self):
if self.dist>0.01:
self.dist = self.dist*0.8
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def getBolaFixa(self):
self.x0 = self.radius*np.cos(self.angle)
self.y0 = self.radius*np.sin(self.angle)
self.z0 = 2.5
self.vx0 = 0
self.vy0 = 0
self.vz0 = 2.5
self.calculaTarget()
def variaPos(self,radius,angle):
self.radius = radius
self.angle = angle
def resetFixo(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getBolaFixa()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
self.dist = 0.05
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.dist:
done = True
reward += 200
print('success')
self.tfin = self.data.time
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.dist:
done = True
self.tfin = self.data.time
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
class MujocoEnv2_2:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 25
self.name = "MujocoEnv-v2-2"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.distlist = [1.6,0.8,0.4,0.06]
self.distcount = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
self.successes = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
d = self.calculaDistanciaTarget()
self.distlist = [0.75*d,0.5*d,0.25*d,0.06]
if d < 0.06: self.distlist = [0.06]
self.distcount = 0
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.distlist[self.distcount]:
self.distcount += 1
reward += 100
self.successes += 1
if self.distcount == len(self.distlist):
done = True
reward += 100
print('success')
self.tfin = self.data.time
self.data.ctrl[0:6] = [0,0,0,0,0,0]
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
...
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.distlist[self.distcount]:
self.distcount += 1
reward += 100
self.successes += 1
if self.distcount == len(self.distlist):
done = True
reward += 100
print('success')
self.tfin = self.data.time
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
In [4]:
MODEL_FILE = "./ddqn_mujoco_model"
DEVICE = torch.device("cuda" if torch.cuda.is_available() else "cpu")
class ExperienceReplay:
def __init__(self, buffer_size):
self.buffer = deque(maxlen=buffer_size)
def __len__(self):
return len(self.buffer)
# Add a transition to the memory by basic SARNS convention.
def store_transition(self, state, action, reward, new_state, done):
# If buffer is abuot to overflow, begin rewriting existing memory?
self.buffer.append((state, action, reward, new_state, done))
# Sample only the memory that has been stored. Samples BATCH
# amount of samples.
def sample(self):
sample = random.sample(self.buffer, BATCH_SIZE)
states, actions, rewards, next_states, dones = zip(*sample)
#print ("actions",actions)
states = torch.tensor(states).float().to(DEVICE)
actions = torch.stack(actions).long().to(DEVICE)
rewards = torch.from_numpy(np.array(rewards, dtype=np.float32).reshape(-1, 1)).to(DEVICE)
next_states = torch.tensor(next_states).float().to(DEVICE)
dones = torch.from_numpy(np.array(dones, dtype=np.uint8).reshape(-1, 1)).float().to(DEVICE)
return (states, actions, rewards, next_states, dones)
class QNetwork(nn.Module):
def __init__(self, state_dim, action_dim):
super(QNetwork, self).__init__()
# Make a simple 3 later linear network
self.l1 = nn.Linear(state_dim, 512)
self.l2 = nn.Linear(512, 256)
self.l3 = nn.Linear(256, action_dim)
#self.max_action = max_action
def forward(self, state):
x = F.relu(self.l1(state))
x = F.relu(self.l2(x))
#x = self.max_action * torch.tanh(self.l3(x))
return self.l3(x)
class Agent():
# Initialize the agent
def __init__(self, state_dim, action_dim):
self.memory = ExperienceReplay(MEM_SIZE)
self.action_dim = action_dim
self.main_model = QNetwork(state_dim, action_dim).to(DEVICE)
self.target_model = QNetwork(state_dim, action_dim).to(DEVICE)
self.optimizer = optim.Adam(self.main_model.parameters(), lr=LR)
self.eps = 1
self.eps_decay = 0.999
self.eps_min = 0.01
# Target model will be a copy of the main model and will not be trained
self.target_model.load_state_dict(self.main_model.state_dict())
self.target_model.eval()
# Agent saves its experiences and learn
def step(self, state, action, reward, new_state, done):
# Stores the transition into Experience Replay
self.memory.store_transition(state, action, reward, new_state, done)
# Agent will only learn when there are enough experiences
if len(self.memory) > BATCH_SIZE:
self.learn()
# Agent learns
def learn(self):
# Sample random minibatch of transitions from Experience Replay
state, action, reward, new_state, done = self.memory.sample()
#print("state",state,len(state),"\n action",action,len(action))
#print ("target",self.main_model(state))
# Computes Q(s_{curr},a') then chooses columns of actions that were taken for each batch
q_eval = self.main_model(state).gather(1,action.unsqueeze(1))
#print("a",self.main_model(state)[1],action[1],q_eval[1])
# Clone the model and use it to generate Q learning targets for the main model
# Also predicts the max Q value for the next state
#print ("target",self.main_model(state))
q_next = self.target_model(new_state).detach().max(1)[0].unsqueeze(1)
#print("b",self.target_model(new_state)[1],q_next[1])
# Q learning targets = r if next state is terminal or
# Q learning targets = r + GAMMA*(Q(s_{next},a')) if next state is not terminal
q_target = reward + GAMMA*(q_next) *(1-done)
# Compute MSE loss
loss = F.mse_loss(q_eval, q_target)
# Stochastic gradient descent on the loss function and does backpropragation
self.optimizer.zero_grad()
loss.backward()
'''for param in self.main_model.parameters():
# Clip the error term to be between -1 and 1
param.grad.data.clamp_(-1,1)'''
self.optimizer.step()
def decrement_epsilon(self):
self.eps *= self.eps_decay
if self.eps < self.eps_min:
self.eps = self.eps_min
# Action chosen is either a random action or based on the Bellman Equation
def take_action(self, action):
quinary = np.base_repr(action, base=5) # Representação em base 5
quinary = quinary.zfill(2)
action_array = np.zeros(2)
mapping = {'0': -1.1, '1': -1/6, '2': 0, '3': 1/6, '4': 1.1}
for i, n in enumerate(quinary):
action_array[i] = mapping[n]
return action_array
def choose_action(self, state):
# With probability EPSILON, select a random action
#print (state)
if np.random.random() < self.eps:
#return torch.from_numpy(self.action_space.sample())
acao = random.randint(0,8)
# Otherwise select the action with the highest Q value
else:
#print (state)
state = torch.FloatTensor(np.array(state).reshape(1,-1)).to(DEVICE)
#print ("state",state)
# action that maximizes Q*(s',a';THETA)
with torch.no_grad():
acao = self.main_model(state).max(1)[1].item()
#print ("escolhe",self.main_model(state),acao)
return acao
def soft_update_target_model(self, tau):
target_model_state_dict = self.target_model.state_dict()
main_model_state_dict = self.main_model.state_dict()
for key in main_model_state_dict:
target_model_state_dict[key] = main_model_state_dict[key] * tau + target_model_state_dict[key] * (1 - tau)
self.target_model.load_state_dict(target_model_state_dict)
def save_model(model, path):
torch.save(model.state_dict(), path)
def load_model(model, path):
model.load_state_dict(torch.load(path))
return model
def replay_actions(env, actions):
done = False
state = env.reset()
for action in actions:
env.render()
env.step(action)
env.close()
def store_actions(actions, path):
actions_file = open(path,'wb')
pickle.dump(actions, actions_file)
actions_file.close()
def load_actions(path):
actions_file = open(path,'rb')
actions = pickle.load(actions_file)
actions_file.close()
return actions
In [5]:
# Hyperparameters
N_GAMES = 30001
MEM_SIZE = 100000
BATCH_SIZE = 32
TARGET_UPDATE = 4
GAMMA = 0.99
TAU = 0.005
LR = 1e-4
In [ ]:
def main():
plt.ion()
env = MujocoEnv2_0()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
load = input("load from model? [y/n]: ")
filename = 'DDQN_mujoco'
figure_file_score = 'plots/' + filename + '_score.png'
figure_file_catchrate = 'plots/' + filename + '_catchrate.png'
figure_file_steps = 'plots/' + filename + '_steps.png'
if load == "y":
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
max_score = -10000
max_game = 0
scores = []
start = datetime.datetime.now()
step_history = []
score_history = []
success_history = []
for game in range(N_GAMES):
done = False
score = 0
success = 0
observation = env.reset()
#print(observation)
game_actions = [] # actions taken during this game
episode_start = datetime.datetime.now()
if game%500 != 499:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.step(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
else:
while not done:
action = agent.choose_action(observation)
observation_, reward, done = env.rstep(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
media.show_video(env.frames, fps=env.framerate)
# Update variables each game
agent.decrement_epsilon()
episode_end = datetime.datetime.now()
elapsed = episode_end - episode_start
scores.append(score)
avg_score = np.mean(scores[-100:])
step_history.append(env.tfin)
score_history.append(score)
success_history.append(success)
# Checks if the max score has been beaten
if score > max_score:
max_score = score
max_game = game
save_model(agent.main_model, MODEL_FILE)
store_actions(game_actions, MODEL_FILE+'_actions')
print("eps:",agent.eps)
print('game:', game)
print('steps',env.tfin)
print('reward:', str(score))
print("max reward:", str(max_score), "at game", str(max_game))
print('average score for the last 100 games:', avg_score)
print('time:', str(elapsed.total_seconds()),'seconds')
print()
# After going through N_GAMES
end = datetime.datetime.now()
elapsed = end - start
print('Total time:',elapsed.total_seconds(), 'seconds')
x = [i+1 for i in range(N_GAMES)]
%matplotlib inline
plt.figure('learning')
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching')
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps')
plot_step_curve(x, step_history, figure_file_steps)
scores_file = open(MODEL_FILE+'_scores','wb')
pickle.dump(scores, scores_file)
scores_file.close()
main()
In [5]:
### RECOMPENSA DINÂMICA ###
# Hyperparameters
N_GAMES = 30001
MEM_SIZE = 100000
BATCH_SIZE = 32
TARGET_UPDATE = 4
GAMMA = 0.99
TAU = 0.005
LR = 1e-4
steps_taken = 0
if __name__ == '__main__':
plt.ion()
env = MujocoEnv2_1()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
load = input("load from model? [y/n]: ")
filename = 'DDQN_mujoco_2.5'
figure_file_score = 'plots/' + filename + '_score.png'
figure_file_catchrate = 'plots/' + filename + '_catchrate.png'
figure_file_steps = 'plots/' + filename + '_steps.png'
if load == "y":
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
max_score = -10000
max_game = 0
scores = []
start = datetime.datetime.now()
step_history = []
score_history = []
success_history = []
partial_success_history = []
next_level_points = []
observable_games = [i for i in range(0, 30001, 500)]
for game in range(N_GAMES):
done = False
score = 0
success = 0
observation = env.reset()
#print(observation)
game_actions = [] # actions taken during this game
episode_start = datetime.datetime.now()
if game not in observable_games:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.step(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
else:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.rstep(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
media.show_video(env.frames, fps=env.framerate)
# Update variables each game
agent.decrement_epsilon()
episode_end = datetime.datetime.now()
elapsed = episode_end - episode_start
scores.append(score)
avg_score = np.mean(scores[-100:])
step_history.append(env.tfin)
score_history.append(score)
success_history.append(success)
partial_success_history.append(success)
# Checks if the max score has been beaten
if score > max_score:
max_score = score
max_game = game
save_model(agent.main_model, MODEL_FILE)
store_actions(game_actions, MODEL_FILE+'_actions')
if len(partial_success_history)>600 and np.mean(partial_success_history[-100:])>0.9:
partial_success_history = []
env.setNextDistancia()
max_score = -10000
agent.eps += 0.2
next_level_points.append(game)
print('NEXT LEVEL')
print("eps:",agent.eps)
print('game:', game)
print('reward:', str(score))
print('average score for the last 100 games:', avg_score)
print('partial success avg %.2f' %np.mean(partial_success_history[-100:]), ' dist %.2f' %env.dist)
print('time:', str(elapsed.total_seconds()),'seconds')
print()
# After going through N_GAMES
end = datetime.datetime.now()
elapsed = end - start
print('Total time:',elapsed.total_seconds(), 'seconds')
x = [i+1 for i in range(N_GAMES)]
%matplotlib inline
plt.figure('learning')
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching')
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps')
plot_step_curve(x, step_history, figure_file_steps)
scores_file = open(MODEL_FILE+'_scores','wb')
pickle.dump(scores, scores_file)
scores_file.close()
eps: 0.999 game: 0 reward: -585.4038342847643 average score for the last 100 games: -585.4038342847643 partial success avg 0.00 dist 0.45 time: 0.761613 seconds eps: 0.998001 game: 1 reward: -395.74019110625557 average score for the last 100 games: -490.57201269550995 partial success avg 0.00 dist 0.45 time: 0.3781 seconds eps: 0.997002999 game: 2 reward: -468.6505547046969 average score for the last 100 games: -483.2648600319056 partial success avg 0.00 dist 0.45 time: 0.479734 seconds success eps: 0.996005996001 game: 3 reward: 197.31505217516136 average score for the last 100 games: -313.11988198013887 partial success avg 0.25 dist 0.45 time: 0.007192 seconds eps: 0.995009990004999 game: 4 reward: -558.7040674060447 average score for the last 100 games: -362.23671906532 partial success avg 0.20 dist 0.45 time: 0.397615 seconds eps: 0.994014980014994 game: 5 reward: -731.2312884144454 average score for the last 100 games: -423.73581395684096 partial success avg 0.17 dist 0.45 time: 0.419703 seconds eps: 0.993020965034979 game: 6 reward: -800.8211868903869 average score for the last 100 games: -477.6051529473475 partial success avg 0.14 dist 0.45 time: 0.365241 seconds success eps: 0.9920279440699441 game: 7 reward: 72.09266038728566 average score for the last 100 games: -408.8929262805184 partial success avg 0.25 dist 0.45 time: 0.081806 seconds eps: 0.9910359161258742 game: 8 reward: -659.9303983557804 average score for the last 100 games: -436.78597873332524 partial success avg 0.22 dist 0.45 time: 0.378 seconds success eps: 0.9900448802097482 game: 9 reward: 175.18043773448605 average score for the last 100 games: -375.5893370865441 partial success avg 0.30 dist 0.45 time: 0.031575 seconds eps: 0.9890548353295385 game: 10 reward: -587.6833325596907 average score for the last 100 games: -394.87060940228474 partial success avg 0.27 dist 0.45 time: 0.434595 seconds eps: 0.988065780494209 game: 11 reward: -307.01571404101895 average score for the last 100 games: -387.54936812217926 partial success avg 0.25 dist 0.45 time: 0.394485 seconds eps: 0.9870777147137147 game: 12 reward: -341.5356156084288 average score for the last 100 games: -384.00984869804466 partial success avg 0.23 dist 0.45 time: 0.462963 seconds eps: 0.986090636999001 game: 13 reward: -651.958879234583 average score for the last 100 games: -403.1490651649402 partial success avg 0.21 dist 0.45 time: 0.404411 seconds eps: 0.9851045463620021 game: 14 reward: -773.8369067058783 average score for the last 100 games: -427.8615879343361 partial success avg 0.20 dist 0.45 time: 0.446037 seconds success eps: 0.98411944181564 game: 15 reward: 39.450612042945124 average score for the last 100 games: -398.654575435756 partial success avg 0.25 dist 0.45 time: 0.084654 seconds eps: 0.9831353223738244 game: 16 reward: -737.8973364724019 average score for the last 100 games: -418.6100319673234 partial success avg 0.24 dist 0.45 time: 0.46189 seconds eps: 0.9821521870514506 game: 17 reward: -667.8397290127975 average score for the last 100 games: -432.4561262476275 partial success avg 0.22 dist 0.45 time: 0.379596 seconds success eps: 0.9811700348643991 game: 18 reward: 182.56108248837074 average score for the last 100 games: -400.08679947204865 partial success avg 0.26 dist 0.45 time: 0.032997 seconds eps: 0.9801888648295347 game: 19 reward: -411.80071903609513 average score for the last 100 games: -400.67249545025095 partial success avg 0.25 dist 0.45 time: 0.422406 seconds success eps: 0.9792086759647052 game: 20 reward: 32.72257423380114 average score for the last 100 games: -380.0346349891056 partial success avg 0.29 dist 0.45 time: 0.088589 seconds eps: 0.9782294672887405 game: 21 reward: -351.08650171026335 average score for the last 100 games: -378.7188107491583 partial success avg 0.27 dist 0.45 time: 0.388992 seconds success eps: 0.9772512378214517 game: 22 reward: 193.5905476591879 average score for the last 100 games: -353.8357951661867 partial success avg 0.30 dist 0.45 time: 0.019395 seconds eps: 0.9762739865836303 game: 23 reward: -685.9570837743466 average score for the last 100 games: -367.67418219152677 partial success avg 0.29 dist 0.45 time: 0.398742 seconds success eps: 0.9752977125970467 game: 24 reward: 121.83648718951179 average score for the last 100 games: -348.0937554162852 partial success avg 0.32 dist 0.45 time: 0.058912 seconds success eps: 0.9743224148844496 game: 25 reward: 167.1697415971799 average score for the last 100 games: -328.27592860807505 partial success avg 0.35 dist 0.45 time: 0.039957 seconds success eps: 0.9733480924695651 game: 26 reward: 125.37156469451476 average score for the last 100 games: -311.474169596868 partial success avg 0.37 dist 0.45 time: 0.110505 seconds eps: 0.9723747443770956 game: 27 reward: -646.7513729109431 average score for the last 100 games: -323.4483554295135 partial success avg 0.36 dist 0.45 time: 0.383637 seconds success eps: 0.9714023696327185 game: 28 reward: 172.2170515142826 average score for the last 100 games: -306.3564448452447 partial success avg 0.38 dist 0.45 time: 0.03441 seconds eps: 0.9704309672630859 game: 29 reward: -638.5048042975969 average score for the last 100 games: -317.4280568269898 partial success avg 0.37 dist 0.45 time: 0.463128 seconds success eps: 0.9694605362958227 game: 30 reward: 130.9356071130203 average score for the last 100 games: -302.964712828925 partial success avg 0.39 dist 0.45 time: 0.074466 seconds success eps: 0.9684910757595269 game: 31 reward: 193.49700905902893 average score for the last 100 games: -287.4502840199263 partial success avg 0.41 dist 0.45 time: 0.014561 seconds eps: 0.9675225846837673 game: 32 reward: -517.4088733070603 average score for the last 100 games: -294.4187261195364 partial success avg 0.39 dist 0.45 time: 0.471318 seconds eps: 0.9665550620990835 game: 33 reward: -319.46103405413527 average score for the last 100 games: -295.1552645882011 partial success avg 0.38 dist 0.45 time: 0.412522 seconds eps: 0.9655885070369844 game: 34 reward: -399.8075360449742 average score for the last 100 games: -298.14532948696603 partial success avg 0.37 dist 0.45 time: 0.408732 seconds eps: 0.9646229185299474 game: 35 reward: -511.658423990609 average score for the last 100 games: -304.07624877873394 partial success avg 0.36 dist 0.45 time: 0.384161 seconds eps: 0.9636582956114175 game: 36 reward: -592.9210786478288 average score for the last 100 games: -311.88286580222297 partial success avg 0.35 dist 0.45 time: 0.439894 seconds eps: 0.9626946373158061 game: 37 reward: -594.5685647875836 average score for the last 100 games: -319.321963143943 partial success avg 0.34 dist 0.45 time: 0.381752 seconds eps: 0.9617319426784903 game: 38 reward: -397.99882625667965 average score for the last 100 games: -321.33931860837214 partial success avg 0.33 dist 0.45 time: 0.43217 seconds success eps: 0.9607702107358118 game: 39 reward: -35.22703139659194 average score for the last 100 games: -314.18651142807767 partial success avg 0.35 dist 0.45 time: 0.233416 seconds eps: 0.959809440525076 game: 40 reward: -569.6216970209882 average score for the last 100 games: -320.4166379059535 partial success avg 0.34 dist 0.45 time: 0.4224 seconds eps: 0.9588496310845509 game: 41 reward: -594.8078089882114 average score for the last 100 games: -326.94976102695966 partial success avg 0.33 dist 0.45 time: 0.403544 seconds eps: 0.9578907814534664 game: 42 reward: -708.7555925277594 average score for the last 100 games: -335.8289664106992 partial success avg 0.33 dist 0.45 time: 0.452933 seconds success eps: 0.9569328906720129 game: 43 reward: 159.90821143825465 average score for the last 100 games: -324.56221236867754 partial success avg 0.34 dist 0.45 time: 0.040462 seconds success eps: 0.9559759577813409 game: 44 reward: 33.99988093996686 average score for the last 100 games: -316.5941658507076 partial success avg 0.36 dist 0.45 time: 0.095053 seconds eps: 0.9550199818235596 game: 45 reward: -341.5032225720122 average score for the last 100 games: -317.1356670837794 partial success avg 0.35 dist 0.45 time: 0.396456 seconds eps: 0.9540649618417361 game: 46 reward: -803.6996861161082 average score for the last 100 games: -327.4880930206375 partial success avg 0.34 dist 0.45 time: 0.357785 seconds eps: 0.9531108968798944 game: 47 reward: -368.8315148149296 average score for the last 100 games: -328.3494143080186 partial success avg 0.33 dist 0.45 time: 0.439156 seconds eps: 0.9521577859830145 game: 48 reward: -468.9836234108394 average score for the last 100 games: -331.21950020807617 partial success avg 0.33 dist 0.45 time: 0.413629 seconds success eps: 0.9512056281970315 game: 49 reward: 94.43967760346204 average score for the last 100 games: -322.7063166518454 partial success avg 0.34 dist 0.45 time: 0.067837 seconds eps: 0.9502544225688344 game: 50 reward: -727.0554522466003 average score for the last 100 games: -330.63473107527193 partial success avg 0.33 dist 0.45 time: 0.391681 seconds success eps: 0.9493041681462656 game: 51 reward: -75.62092481676368 average score for the last 100 games: -325.7306194164545 partial success avg 0.35 dist 0.45 time: 0.33878 seconds success eps: 0.9483548639781193 game: 52 reward: -71.47218977361487 average score for the last 100 games: -320.93329055526885 partial success avg 0.36 dist 0.45 time: 0.219062 seconds eps: 0.9474065091141411 game: 53 reward: -824.2124861460272 average score for the last 100 games: -330.25327565880144 partial success avg 0.35 dist 0.45 time: 0.39354 seconds eps: 0.946459102605027 game: 54 reward: -552.8436552893913 average score for the last 100 games: -334.3003734702667 partial success avg 0.35 dist 0.45 time: 0.362401 seconds eps: 0.9455126435024219 game: 55 reward: -595.3049364021808 average score for the last 100 games: -338.961169236908 partial success avg 0.34 dist 0.45 time: 0.458418 seconds success eps: 0.9445671308589195 game: 56 reward: -44.61010941460904 average score for the last 100 games: -333.7971155558151 partial success avg 0.35 dist 0.45 time: 0.13754 seconds eps: 0.9436225637280606 game: 57 reward: -694.7981237797749 average score for the last 100 games: -340.0212708700213 partial success avg 0.34 dist 0.45 time: 0.373786 seconds success eps: 0.9426789411643326 game: 58 reward: 94.76860169688614 average score for the last 100 games: -332.6519509960059 partial success avg 0.36 dist 0.45 time: 0.142869 seconds success eps: 0.9417362622231683 game: 59 reward: 139.15421097334823 average score for the last 100 games: -324.7885149631833 partial success avg 0.37 dist 0.45 time: 0.043972 seconds eps: 0.9407945259609451 game: 60 reward: -540.9677024433605 average score for the last 100 games: -328.33243606941573 partial success avg 0.36 dist 0.45 time: 0.376502 seconds eps: 0.9398537314349842 game: 61 reward: -481.2259706027735 average score for the last 100 games: -330.79846081995373 partial success avg 0.35 dist 0.45 time: 0.461671 seconds eps: 0.9389138777035492 game: 62 reward: -508.37477479737805 average score for the last 100 games: -333.6171324703891 partial success avg 0.35 dist 0.45 time: 0.403621 seconds eps: 0.9379749638258457 game: 63 reward: -689.5802308665295 average score for the last 100 games: -339.1790558828287 partial success avg 0.34 dist 0.45 time: 0.408117 seconds eps: 0.9370369888620198 game: 64 reward: -697.7491252435622 average score for the last 100 games: -344.69551848837847 partial success avg 0.34 dist 0.45 time: 0.372387 seconds success eps: 0.9360999518731578 game: 65 reward: 194.09170668264534 average score for the last 100 games: -336.5320756827569 partial success avg 0.35 dist 0.45 time: 0.013045 seconds success eps: 0.9351638519212846 game: 66 reward: -38.056018275636234 average score for the last 100 games: -332.0772091542924 partial success avg 0.36 dist 0.45 time: 0.241797 seconds eps: 0.9342286880693633 game: 67 reward: -358.81395810610593 average score for the last 100 games: -332.47039663887784 partial success avg 0.35 dist 0.45 time: 0.398371 seconds success eps: 0.933294459381294 game: 68 reward: 197.31661754418363 average score for the last 100 games: -324.79232396955814 partial success avg 0.36 dist 0.45 time: 0.007428 seconds success eps: 0.9323611649219127 game: 69 reward: 181.99469623737718 average score for the last 100 games: -317.55250939517333 partial success avg 0.37 dist 0.45 time: 0.025944 seconds eps: 0.9314288037569908 game: 70 reward: -609.8317111524387 average score for the last 100 games: -321.66911787062776 partial success avg 0.37 dist 0.45 time: 0.393991 seconds eps: 0.9304973749532338 game: 71 reward: -480.6512748508084 average score for the last 100 games: -323.87720338424145 partial success avg 0.36 dist 0.45 time: 0.412071 seconds eps: 0.9295668775782806 game: 72 reward: -315.0245244840859 average score for the last 100 games: -323.7559338102667 partial success avg 0.36 dist 0.45 time: 0.421361 seconds success eps: 0.9286373107007023 game: 73 reward: 144.36742184830314 average score for the last 100 games: -317.42994251758336 partial success avg 0.36 dist 0.45 time: 0.057947 seconds success eps: 0.9277086733900016 game: 74 reward: 197.1810325674123 average score for the last 100 games: -310.5684628497834 partial success avg 0.37 dist 0.45 time: 0.009165 seconds eps: 0.9267809647166116 game: 75 reward: -421.7717130463929 average score for the last 100 games: -312.0316635102651 partial success avg 0.37 dist 0.45 time: 0.475386 seconds eps: 0.925854183751895 game: 76 reward: -945.1179349131069 average score for the last 100 games: -320.2535631388734 partial success avg 0.36 dist 0.45 time: 0.383572 seconds eps: 0.9249283295681431 game: 77 reward: -453.1526378520408 average score for the last 100 games: -321.95739743006783 partial success avg 0.36 dist 0.45 time: 0.388276 seconds eps: 0.9240034012385749 game: 78 reward: -840.330389956144 average score for the last 100 games: -328.519080879765 partial success avg 0.35 dist 0.45 time: 0.37181 seconds eps: 0.9230793978373364 game: 79 reward: -471.3820465601823 average score for the last 100 games: -330.3048679507703 partial success avg 0.35 dist 0.45 time: 0.436069 seconds eps: 0.9221563184394991 game: 80 reward: -607.3167935250385 average score for the last 100 games: -333.724768266502 partial success avg 0.35 dist 0.45 time: 0.408566 seconds eps: 0.9212341621210596 game: 81 reward: -631.707115787108 average score for the last 100 games: -337.35869933382645 partial success avg 0.34 dist 0.45 time: 0.426071 seconds success eps: 0.9203129279589385 game: 82 reward: 25.870714182048317 average score for the last 100 games: -332.9824413396593 partial success avg 0.35 dist 0.45 time: 0.103342 seconds eps: 0.9193926150309796 game: 83 reward: -470.5437978717298 average score for the last 100 games: -334.6200765364697 partial success avg 0.35 dist 0.45 time: 0.416615 seconds eps: 0.9184732224159486 game: 84 reward: -405.3650951985604 average 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seconds eps: 0.9129761418240965 game: 90 reward: -530.1554694914037 average score for the last 100 games: -327.4487715867366 partial success avg 0.34 dist 0.45 time: 0.438363 seconds eps: 0.9120631656822724 game: 91 reward: -410.64393257026444 average score for the last 100 games: -328.35306681481836 partial success avg 0.34 dist 0.45 time: 0.436892 seconds eps: 0.9111511025165902 game: 92 reward: -453.6373683131767 average score for the last 100 games: -329.70020984168247 partial success avg 0.33 dist 0.45 time: 0.380273 seconds eps: 0.9102399514140735 game: 93 reward: -480.67159501764064 average score for the last 100 games: -331.3062884073841 partial success avg 0.33 dist 0.45 time: 0.48692 seconds success eps: 0.9093297114626595 game: 94 reward: 149.43084250077402 average score for the last 100 games: -326.2458975557193 partial success avg 0.34 dist 0.45 time: 0.066953 seconds success eps: 0.9084203817511969 game: 95 reward: 177.46348554225634 average score for the last 100 games: 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partial success avg 0.68 dist 0.45 time: 0.054405 seconds success eps: 0.15459698847728787 game: 1865 reward: 122.27525853966402 average score for the last 100 games: -8.981493306068076 partial success avg 0.68 dist 0.45 time: 0.065402 seconds success eps: 0.1544423914888106 game: 1866 reward: 166.79710588603777 average score for the last 100 games: -7.024228084136667 partial success avg 0.68 dist 0.45 time: 0.040168 seconds success eps: 0.15428794909732177 game: 1867 reward: 176.66868845690738 average score for the last 100 games: -7.045007114448538 partial success avg 0.68 dist 0.45 time: 0.030908 seconds success eps: 0.15413366114822444 game: 1868 reward: 154.02045570768868 average score for the last 100 games: -5.383498267892533 partial success avg 0.68 dist 0.45 time: 0.042519 seconds success eps: 0.15397952748707622 game: 1869 reward: 153.95080437148366 average score for the last 100 games: -5.692783952438225 partial success avg 0.68 dist 0.45 time: 0.102771 seconds success eps: 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100 games: -0.19316964942502807 partial success avg 0.69 dist 0.45 time: 0.037455 seconds success eps: 0.1529048989808465 game: 1876 reward: 124.83491200512995 average score for the last 100 games: 0.7007412924535348 partial success avg 0.69 dist 0.45 time: 0.08285 seconds success eps: 0.15275199408186566 game: 1877 reward: 104.8964294439276 average score for the last 100 games: 0.03887974858816065 partial success avg 0.69 dist 0.45 time: 0.061506 seconds success eps: 0.15259924208778378 game: 1878 reward: 134.5094257739531 average score for the last 100 games: 5.528587101108882 partial success avg 0.70 dist 0.45 time: 0.052938 seconds eps: 0.15244664284569598 game: 1879 reward: -345.44444490514655 average score for the last 100 games: 5.200890976932292 partial success avg 0.70 dist 0.45 time: 0.561122 seconds eps: 0.15229419620285028 game: 1880 reward: -919.9554237927716 average score for the last 100 games: -5.797679397018071 partial success avg 0.69 dist 0.45 time: 0.413823 seconds success eps: 0.15214190200664743 game: 1881 reward: 192.37225633480904 average score for the last 100 games: -5.629944676040211 partial success avg 0.69 dist 0.45 time: 0.01448 seconds success eps: 0.15198976010464077 game: 1882 reward: 192.68393673845128 average score for the last 100 games: -5.510455095412263 partial success avg 0.69 dist 0.45 time: 0.016299 seconds success eps: 0.15183777034453613 game: 1883 reward: 166.51460249481678 average score for the last 100 games: -5.597067346305801 partial success avg 0.69 dist 0.45 time: 0.038608 seconds eps: 0.1516859325741916 game: 1884 reward: -330.1878710370498 average score for the last 100 games: -10.347094103391163 partial success avg 0.68 dist 0.45 time: 0.564633 seconds eps: 0.1515342466416174 game: 1885 reward: -395.1909132986493 average score for the last 100 games: -15.447578824398997 partial success avg 0.67 dist 0.45 time: 0.41141 seconds success eps: 0.1513827123949758 game: 1886 reward: 139.7562957800347 average score for the last 100 games: -10.183319391897053 partial success avg 0.68 dist 0.45 time: 0.049014 seconds success eps: 0.15123132968258082 game: 1887 reward: 155.23020936579826 average score for the last 100 games: -3.679696340029906 partial success avg 0.69 dist 0.45 time: 0.090235 seconds eps: 0.15108009835289823 game: 1888 reward: -401.84623076666406 average score for the last 100 games: -4.141358344014463 partial success avg 0.69 dist 0.45 time: 0.457094 seconds success eps: 0.15092901825454533 game: 1889 reward: 178.63720711588246 average score for the last 100 games: -3.93748905482066 partial success avg 0.69 dist 0.45 time: 0.02816 seconds success eps: 0.15077808923629077 game: 1890 reward: 161.03042974092023 average score for the last 100 games: -3.454949499958434 partial success avg 0.69 dist 0.45 time: 0.047916 seconds success eps: 0.15062731114705447 game: 1891 reward: 167.44872185834652 average score for the last 100 games: 1.7005711511935346 partial success avg 0.70 dist 0.45 time: 0.0382 seconds success eps: 0.1504766838359074 game: 1892 reward: 193.48698798761043 average score for the last 100 games: 1.6917079241225033 partial success avg 0.70 dist 0.45 time: 0.018559 seconds success eps: 0.15032620715207148 game: 1893 reward: 180.91609716176453 average score for the last 100 games: 3.9827314164661027 partial success avg 0.70 dist 0.45 time: 0.030025 seconds success eps: 0.1501758809449194 game: 1894 reward: 135.44571198358693 average score for the last 100 games: 3.39864973542973 partial success avg 0.70 dist 0.45 time: 0.073526 seconds success eps: 0.15002570506397447 game: 1895 reward: 178.18688406095782 average score for the last 100 games: 3.5546299726748316 partial success avg 0.70 dist 0.45 time: 0.034075 seconds eps: 0.1498756793589105 game: 1896 reward: -284.3771335355925 average score for the last 100 games: -0.9327020936232588 partial success avg 0.69 dist 0.45 time: 0.579681 seconds success eps: 0.14972580367955157 game: 1897 reward: 174.58216714991377 average score for the last 100 games: -0.3721483481471776 partial success avg 0.69 dist 0.45 time: 0.035407 seconds success eps: 0.14957607787587202 game: 1898 reward: 181.22191044508764 average score for the last 100 games: -0.32407438234552755 partial success avg 0.69 dist 0.45 time: 0.030104 seconds success eps: 0.14942650179799613 game: 1899 reward: 161.71857509532893 average score for the last 100 games: -0.6784217323371198 partial success avg 0.69 dist 0.45 time: 0.05459 seconds success eps: 0.14927707529619813 game: 1900 reward: 169.37149251517494 average score for the last 100 games: -0.6777190044251443 partial success avg 0.69 dist 0.45 time: 0.046416 seconds success eps: 0.14912779822090194 game: 1901 reward: 141.00178019926167 average score for the last 100 games: -0.9239912359575903 partial success avg 0.69 dist 0.45 time: 0.055543 seconds success eps: 0.14897867042268104 game: 1902 reward: 197.00845375521928 average score for the last 100 games: 3.6473631356750293 partial success avg 0.70 dist 0.45 time: 0.009724 seconds success eps: 0.14882969175225835 game: 1903 reward: 178.09705766473417 average score for the last 100 games: 3.785049565819486 partial success avg 0.70 dist 0.45 time: 0.037437 seconds success eps: 0.1486808620605061 game: 1904 reward: 157.62943091152832 average score for the last 100 games: 4.433185843287061 partial success avg 0.70 dist 0.45 time: 0.055033 seconds success eps: 0.14853218119844558 game: 1905 reward: 192.03331643051126 average score for the last 100 games: 10.319714517322213 partial success avg 0.71 dist 0.45 time: 0.015423 seconds success eps: 0.14838364901724713 game: 1906 reward: 168.5922108076302 average score for the last 100 games: 15.660771834873172 partial success avg 0.72 dist 0.45 time: 0.047841 seconds eps: 0.14823526536822987 game: 1907 reward: -285.3596061959971 average score for the last 100 games: 11.472951952410298 partial success avg 0.71 dist 0.45 time: 0.488748 seconds eps: 0.14808703010286164 game: 1908 reward: -308.18156554110715 average score for the last 100 games: 7.49021002761486 partial success avg 0.70 dist 0.45 time: 0.496285 seconds eps: 0.1479389430727588 game: 1909 reward: -278.3013211343948 average score for the last 100 games: 8.308065094420668 partial success avg 0.70 dist 0.45 time: 0.381717 seconds success eps: 0.14779100412968604 game: 1910 reward: 185.85904580162438 average score for the last 100 games: 9.134154250116518 partial success avg 0.70 dist 0.45 time: 0.029067 seconds success eps: 0.14764321312555637 game: 1911 reward: 164.26101213398238 average score for the last 100 games: 9.14147765353177 partial success avg 0.70 dist 0.45 time: 0.048815 seconds eps: 0.14749556991243082 game: 1912 reward: -256.27278554413954 average score for the last 100 games: 8.8813509947125 partial success avg 0.70 dist 0.45 time: 0.474576 seconds success eps: 0.1473480743425184 game: 1913 reward: 185.01139804550317 average score for the last 100 games: 9.153551773652667 partial success avg 0.70 dist 0.45 time: 0.025726 seconds success eps: 0.14720072626817587 game: 1914 reward: 165.1210331591196 average score for the last 100 games: 13.647733663685633 partial success avg 0.71 dist 0.45 time: 0.053487 seconds success eps: 0.1470535255419077 game: 1915 reward: 196.96165362210456 average score for the last 100 games: 14.281048800324756 partial success avg 0.71 dist 0.45 time: 0.007884 seconds eps: 0.1469064720163658 game: 1916 reward: -235.7415976786274 average score for the last 100 games: 15.193009575059142 partial success avg 0.71 dist 0.45 time: 0.384755 seconds success eps: 0.14675956554434944 game: 1917 reward: 185.3653179814006 average score for the last 100 games: 15.121375857637453 partial success avg 0.71 dist 0.45 time: 0.027622 seconds success eps: 0.14661280597880508 game: 1918 reward: 159.19638650860708 average score for the last 100 games: 15.30062949878821 partial success avg 0.71 dist 0.45 time: 0.059441 seconds success eps: 0.14646619317282628 game: 1919 reward: 132.47944467222703 average score for the last 100 games: 19.527515496578324 partial success avg 0.72 dist 0.45 time: 0.055153 seconds success eps: 0.14631972697965345 game: 1920 reward: 158.09572621468743 average score for the last 100 games: 19.31136965251346 partial success avg 0.72 dist 0.45 time: 0.058728 seconds success eps: 0.1461734072526738 game: 1921 reward: 152.19322262115028 average score for the last 100 games: 24.60426645544765 partial success avg 0.73 dist 0.45 time: 0.072316 seconds success eps: 0.14602723384542113 game: 1922 reward: 127.40064925242437 average score for the last 100 games: 24.10814227549398 partial success avg 0.73 dist 0.45 time: 0.054965 seconds eps: 0.14588120661157572 game: 1923 reward: -273.85729896684256 average score for the last 100 games: 19.643404573785848 partial success avg 0.72 dist 0.45 time: 0.571906 seconds success eps: 0.14573532540496414 game: 1924 reward: 187.4554414649278 average score for the last 100 games: 22.403185597077886 partial success avg 0.72 dist 0.45 time: 0.021718 seconds success eps: 0.14558959007955918 game: 1925 reward: -12.29087450829644 average score for the last 100 games: 24.544611664331452 partial success avg 0.73 dist 0.45 time: 0.390423 seconds eps: 0.1454440004894796 game: 1926 reward: -325.4546636854429 average score for the last 100 games: 24.613486505676146 partial success avg 0.73 dist 0.45 time: 0.44637 seconds success eps: 0.14529855648899012 game: 1927 reward: 175.236607250644 average score for the last 100 games: 24.818671138263543 partial success avg 0.73 dist 0.45 time: 0.032943 seconds success eps: 0.14515325793250114 game: 1928 reward: 29.648602798531982 average score for the last 100 games: 23.48181504981234 partial success avg 0.73 dist 0.45 time: 0.163766 seconds success eps: 0.14500810467456865 game: 1929 reward: 101.80338012135658 average score for the last 100 games: 28.006083088659903 partial success avg 0.74 dist 0.45 time: 0.060814 seconds eps: 0.14486309656989407 game: 1930 reward: -270.8241830016841 average score for the last 100 games: 23.434565339103443 partial success avg 0.73 dist 0.45 time: 0.491164 seconds eps: 0.1447182334733242 game: 1931 reward: -325.41447696602563 average score for the last 100 games: 18.499926638817023 partial success avg 0.72 dist 0.45 time: 0.426513 seconds success eps: 0.14457351523985087 game: 1932 reward: 148.9333151654294 average score for the last 100 games: 18.60257893311067 partial success avg 0.72 dist 0.45 time: 0.047874 seconds eps: 0.14442894172461102 game: 1933 reward: -275.5820855387395 average score for the last 100 games: 14.017336790244094 partial success avg 0.71 dist 0.45 time: 0.381603 seconds success eps: 0.1442845127828864 game: 1934 reward: 182.9491224841227 average score for the last 100 games: 14.399250917042941 partial success avg 0.71 dist 0.45 time: 0.037447 seconds eps: 0.1441402282701035 game: 1935 reward: -457.87243020289327 average score for the last 100 games: 8.540516789173806 partial success avg 0.70 dist 0.45 time: 0.460304 seconds success eps: 0.1439960880418334 game: 1936 reward: 186.01043968924048 average score for the last 100 games: 13.73738076966965 partial success avg 0.71 dist 0.45 time: 0.022977 seconds eps: 0.14385209195379156 game: 1937 reward: -303.18537611231903 average score for the last 100 games: 9.294622353450983 partial success avg 0.70 dist 0.45 time: 0.530637 seconds success eps: 0.14370823986183776 game: 1938 reward: 186.57963834780003 average score for the last 100 games: 9.472297246805361 partial success avg 0.70 dist 0.45 time: 0.021644 seconds success eps: 0.1435645316219759 game: 1939 reward: 134.39058715627633 average score for the last 100 games: 9.245730214082496 partial success avg 0.70 dist 0.45 time: 0.052614 seconds success eps: 0.14342096709035393 game: 1940 reward: 152.26589945963988 average score for the last 100 games: 13.31910071523685 partial success avg 0.71 dist 0.45 time: 0.077295 seconds success eps: 0.14327754612326357 game: 1941 reward: 197.4857483737832 average score for the last 100 games: 13.604964599707532 partial success avg 0.71 dist 0.45 time: 0.011259 seconds eps: 0.14313426857714032 game: 1942 reward: -235.56032030945096 average score for the last 100 games: 13.909739001412731 partial success avg 0.71 dist 0.45 time: 0.529679 seconds success eps: 0.14299113430856317 game: 1943 reward: 113.12152426592185 average score for the last 100 games: 17.517486316321218 partial success avg 0.72 dist 0.45 time: 0.185828 seconds success eps: 0.1428481431742546 game: 1944 reward: 184.6585175145786 average score for the last 100 games: 17.765980676777886 partial success avg 0.72 dist 0.45 time: 0.020501 seconds success eps: 0.14270529503108034 game: 1945 reward: 115.85177007572271 average score for the last 100 games: 21.532862648024476 partial success avg 0.73 dist 0.45 time: 0.072922 seconds success eps: 0.14256258973604927 game: 1946 reward: 22.468231585586977 average score for the last 100 games: 20.076825620886215 partial success avg 0.73 dist 0.45 time: 0.342199 seconds success eps: 0.14242002714631322 game: 1947 reward: 175.45315170877487 average score for the last 100 games: 24.835973658316444 partial success avg 0.74 dist 0.45 time: 0.045345 seconds success eps: 0.1422776071191669 game: 1948 reward: 190.0644960942326 average score for the last 100 games: 25.052099607599366 partial success avg 0.74 dist 0.45 time: 0.021181 seconds success eps: 0.14213532951204774 game: 1949 reward: 162.7901150000534 average score for the last 100 games: 24.90657277350829 partial success avg 0.74 dist 0.45 time: 0.100702 seconds eps: 0.1419931941825357 game: 1950 reward: -303.1491554339726 average score for the last 100 games: 20.195209981991287 partial success avg 0.73 dist 0.45 time: 0.483658 seconds eps: 0.14185120098835316 game: 1951 reward: -295.06938533392315 average score for the last 100 games: 20.975741793250887 partial success avg 0.73 dist 0.45 time: 0.558342 seconds eps: 0.1417093497873648 game: 1952 reward: -330.3003214094933 average score for the last 100 games: 15.773719013773302 partial success avg 0.72 dist 0.45 time: 0.489078 seconds success eps: 0.14156764043757744 game: 1953 reward: 168.7483966300583 average score for the last 100 games: 20.755342834804683 partial success avg 0.73 dist 0.45 time: 0.046286 seconds success eps: 0.14142607279713987 game: 1954 reward: 47.40251576069846 average score for the last 100 games: 19.56118420009514 partial success avg 0.73 dist 0.45 time: 0.381306 seconds success eps: 0.14128464672434274 game: 1955 reward: 197.41834961245087 average score for the last 100 games: 20.976787847422017 partial success avg 0.73 dist 0.45 time: 0.007981 seconds success eps: 0.1411433620776184 game: 1956 reward: 171.92844893249847 average score for the last 100 games: 20.957129152167287 partial success avg 0.73 dist 0.45 time: 0.042658 seconds eps: 0.14100221871554078 game: 1957 reward: -274.65933508667564 average score for the last 100 games: 16.754395576805717 partial success avg 0.72 dist 0.45 time: 0.484753 seconds success eps: 0.14086121649682523 game: 1958 reward: 96.39966130180761 average score for the last 100 games: 16.416490075780484 partial success avg 0.72 dist 0.45 time: 0.061435 seconds eps: 0.14072035528032842 game: 1959 reward: -285.735635467761 average score for the last 100 games: 17.393309073929775 partial success avg 0.72 dist 0.45 time: 0.491483 seconds success eps: 0.1405796349250481 game: 1960 reward: 174.34438792217458 average score for the last 100 games: 24.055613374245812 partial success avg 0.73 dist 0.45 time: 0.048859 seconds success eps: 0.14043905529012304 game: 1961 reward: 77.3373862954195 average score for the last 100 games: 28.445224912685152 partial success avg 0.74 dist 0.45 time: 0.255463 seconds success eps: 0.14029861623483292 game: 1962 reward: 103.10782242256198 average score for the last 100 games: 27.674619842726205 partial success avg 0.74 dist 0.45 time: 0.084053 seconds success eps: 0.1401583176185981 game: 1963 reward: 178.65543355824104 average score for the last 100 games: 27.537339450882104 partial success avg 0.74 dist 0.45 time: 0.031264 seconds eps: 0.1400181593009795 game: 1964 reward: -258.9238584904521 average score for the last 100 games: 23.472750669636795 partial success avg 0.73 dist 0.45 time: 0.421343 seconds success eps: 0.1398781411416785 game: 1965 reward: 185.84234875965865 average score for the last 100 games: 24.10842157183674 partial success avg 0.73 dist 0.45 time: 0.025053 seconds success eps: 0.13973826300053682 game: 1966 reward: 194.11894275039617 average score for the last 100 games: 24.38163994048032 partial success avg 0.73 dist 0.45 time: 0.015951 seconds success eps: 0.13959852473753628 game: 1967 reward: 170.2865035574835 average score for the last 100 games: 24.31781809148608 partial success avg 0.73 dist 0.45 time: 0.035631 seconds success eps: 0.13945892621279873 game: 1968 reward: 171.19338916070006 average score for the last 100 games: 24.489547426016188 partial success avg 0.73 dist 0.45 time: 0.034832 seconds success eps: 0.13931946728658592 game: 1969 reward: 197.03446744720887 average score for the last 100 games: 24.920384056773447 partial success avg 0.73 dist 0.45 time: 0.007458 seconds success eps: 0.13918014781929933 game: 1970 reward: 130.07084585425002 average score for the last 100 games: 24.284694585287962 partial success avg 0.73 dist 0.45 time: 0.055649 seconds success eps: 0.13904096767148003 game: 1971 reward: 181.2509084991226 average score for the last 100 games: 24.413686114609444 partial success avg 0.73 dist 0.45 time: 0.027016 seconds success eps: 0.13890192670380855 game: 1972 reward: 153.78307418285692 average score for the last 100 games: 29.355048442116797 partial success avg 0.74 dist 0.45 time: 0.057075 seconds success eps: 0.13876302477710473 game: 1973 reward: 161.33417550179018 average score for the last 100 games: 34.27742524554612 partial success avg 0.75 dist 0.45 time: 0.060426 seconds success eps: 0.13862426175232762 game: 1974 reward: 142.56306085303163 average score for the last 100 games: 34.0232938193402 partial success avg 0.75 dist 0.45 time: 0.047557 seconds success eps: 0.1384856374905753 game: 1975 reward: 186.72469273524462 average score for the last 100 games: 34.07124499183376 partial success avg 0.75 dist 0.45 time: 0.0226 seconds success eps: 0.13834715185308472 game: 1976 reward: 114.3557392121086 average score for the last 100 games: 33.966453263903546 partial success avg 0.75 dist 0.45 time: 0.073545 seconds eps: 0.13820880470123162 game: 1977 reward: -264.8236257562399 average score for the last 100 games: 30.269252711901864 partial success avg 0.74 dist 0.45 time: 0.384728 seconds success eps: 0.1380705958965304 game: 1978 reward: 159.89474128759431 average score for the last 100 games: 30.523105867038286 partial success avg 0.74 dist 0.45 time: 0.041699 seconds success eps: 0.13793252530063388 game: 1979 reward: 141.80274129671747 average score for the last 100 games: 35.395577729056924 partial success avg 0.75 dist 0.45 time: 0.11235 seconds success eps: 0.13779459277533324 game: 1980 reward: 88.82786757062131 average score for the last 100 games: 45.48341064269085 partial success avg 0.76 dist 0.45 time: 0.17871 seconds success eps: 0.1376567981825579 game: 1981 reward: 133.47640525701053 average score for the last 100 games: 44.89445213191288 partial success avg 0.76 dist 0.45 time: 0.114363 seconds success eps: 0.13751914138437535 game: 1982 reward: 168.47285407798336 average score for the last 100 games: 44.6523413053082 partial success avg 0.76 dist 0.45 time: 0.073259 seconds success eps: 0.13738162224299097 game: 1983 reward: 167.81833563012304 average score for the last 100 games: 44.66537863666126 partial success avg 0.76 dist 0.45 time: 0.034198 seconds success eps: 0.13724424062074797 game: 1984 reward: 153.7457888005299 average score for the last 100 games: 49.50471523503707 partial success avg 0.77 dist 0.45 time: 0.050795 seconds success eps: 0.13710699638012722 game: 1985 reward: 189.78789794999602 average score for the last 100 games: 55.35450334752351 partial success avg 0.78 dist 0.45 time: 0.020623 seconds success eps: 0.1369698893837471 game: 1986 reward: 186.41767286264783 average score for the last 100 games: 55.82111711834965 partial success avg 0.78 dist 0.45 time: 0.02379 seconds success eps: 0.13683291949436335 game: 1987 reward: 98.44811525652317 average score for the last 100 games: 55.25329617725688 partial success avg 0.78 dist 0.45 time: 0.069378 seconds success eps: 0.13669608657486898 game: 1988 reward: 171.58644784753454 average score for the last 100 games: 60.98762296339887 partial success avg 0.79 dist 0.45 time: 0.09876 seconds success eps: 0.1365593904882941 game: 1989 reward: 181.35318582251347 average score for the last 100 games: 61.01478275046517 partial success avg 0.79 dist 0.45 time: 0.026442 seconds success eps: 0.1364228310978058 game: 1990 reward: 126.68756878732255 average score for the last 100 games: 60.6713541409292 partial success avg 0.79 dist 0.45 time: 0.136872 seconds success eps: 0.13628640826670801 game: 1991 reward: 162.26975130723577 average score for the last 100 games: 60.619564435418084 partial success avg 0.79 dist 0.45 time: 0.03454 seconds success eps: 0.1361501218584413 game: 1992 reward: 182.77924285423916 average score for the last 100 games: 60.51248698408438 partial success avg 0.79 dist 0.45 time: 0.035081 seconds eps: 0.13601397173658286 game: 1993 reward: -507.34469582477107 average score for the last 100 games: 53.629879054219025 partial success avg 0.78 dist 0.45 time: 0.504852 seconds success eps: 0.1358779577648463 game: 1994 reward: 65.89223790145027 average score for the last 100 games: 52.93434431339765 partial success avg 0.78 dist 0.45 time: 0.105641 seconds success eps: 0.13574207980708144 game: 1995 reward: 122.70480917575111 average score for the last 100 games: 52.3795235645456 partial success avg 0.78 dist 0.45 time: 0.11447 seconds eps: 0.13560633772727437 game: 1996 reward: -244.9810192078578 average score for the last 100 games: 52.77348470782294 partial success avg 0.78 dist 0.45 time: 0.463029 seconds success eps: 0.1354707313895471 game: 1997 reward: 167.88123762720895 average score for the last 100 games: 52.7064754125959 partial success avg 0.78 dist 0.45 time: 0.041074 seconds success eps: 0.13533526065815754 game: 1998 reward: 150.36012467594023 average score for the last 100 games: 52.39785755490441 partial success avg 0.78 dist 0.45 time: 0.047783 seconds success eps: 0.1351999253974994 game: 1999 reward: 128.326094889807 average score for the last 100 games: 52.0639327528492 partial success avg 0.78 dist 0.45 time: 0.061674 seconds success
eps: 0.13506472547210188 game: 2000 reward: 197.36939962771737 average score for the last 100 games: 52.3439118239746 partial success avg 0.78 dist 0.45 time: 0.616619 seconds success eps: 0.1349296607466298 game: 2001 reward: 181.26919374754067 average score for the last 100 games: 52.746585959457406 partial success avg 0.78 dist 0.45 time: 0.035752 seconds success eps: 0.13479473108588316 game: 2002 reward: 196.91215092363115 average score for the last 100 games: 52.745622931141526 partial success avg 0.78 dist 0.45 time: 0.007688 seconds success eps: 0.13465993635479728 game: 2003 reward: 74.95112824794805 average score for the last 100 games: 51.71416363697367 partial success avg 0.78 dist 0.45 time: 0.145257 seconds success eps: 0.13452527641844247 game: 2004 reward: 196.95088609659055 average score for the last 100 games: 52.1073781888243 partial success avg 0.78 dist 0.45 time: 0.008474 seconds success eps: 0.13439075114202403 game: 2005 reward: 171.35982305376018 average score for the last 100 games: 51.90064325505678 partial success avg 0.78 dist 0.45 time: 0.036717 seconds success eps: 0.134256360390882 game: 2006 reward: 197.3591961096868 average score for the last 100 games: 52.18831310807735 partial success avg 0.78 dist 0.45 time: 0.008637 seconds eps: 0.13412210403049113 game: 2007 reward: -329.3299282784349 average score for the last 100 games: 51.748609887252975 partial success avg 0.78 dist 0.45 time: 0.482371 seconds eps: 0.13398798192646064 game: 2008 reward: -449.3818490825367 average score for the last 100 games: 50.336607051838676 partial success avg 0.78 dist 0.45 time: 0.546639 seconds success eps: 0.13385399394453418 game: 2009 reward: 177.76244377951107 average score for the last 100 games: 54.89724470097774 partial success avg 0.79 dist 0.45 time: 0.041993 seconds success eps: 0.13372013995058965 game: 2010 reward: 151.4222041589709 average score for the last 100 games: 54.5528762845512 partial success avg 0.79 dist 0.45 time: 0.041828 seconds eps: 0.13358641981063907 game: 2011 reward: -430.4259271461998 average score for the last 100 games: 48.606006891749374 partial success avg 0.78 dist 0.45 time: 0.515823 seconds success eps: 0.13345283339082842 game: 2012 reward: 139.84913907928433 average score for the last 100 games: 52.56722613798362 partial success avg 0.79 dist 0.45 time: 0.04905 seconds success eps: 0.13331938055743758 game: 2013 reward: 152.2947096276967 average score for the last 100 games: 52.24005925380555 partial success avg 0.79 dist 0.45 time: 0.040882 seconds success eps: 0.13318606117688014 game: 2014 reward: 172.17213057185782 average score for the last 100 games: 52.31057022793293 partial success avg 0.79 dist 0.45 time: 0.046206 seconds success eps: 0.13305287511570327 game: 2015 reward: 157.167390169764 average score for the last 100 games: 51.912627593409525 partial success avg 0.79 dist 0.45 time: 0.046716 seconds success eps: 0.13291982224058757 game: 2016 reward: 197.20791210901896 average score for the last 100 games: 56.242122691285985 partial success avg 0.80 dist 0.45 time: 0.008054 seconds success eps: 0.13278690241834698 game: 2017 reward: 124.51245292816407 average score for the last 100 games: 55.633594040753614 partial success avg 0.80 dist 0.45 time: 0.066938 seconds success eps: 0.13265411551592862 game: 2018 reward: 178.0761698412465 average score for the last 100 games: 55.82239187408001 partial success avg 0.80 dist 0.45 time: 0.040664 seconds success eps: 0.13252146140041268 game: 2019 reward: 192.21496842637916 average score for the last 100 games: 56.41974711162154 partial success avg 0.80 dist 0.45 time: 0.014025 seconds success eps: 0.13238893993901227 game: 2020 reward: 182.34332671800303 average score for the last 100 games: 56.662223116654694 partial success avg 0.80 dist 0.45 time: 0.02824 seconds success eps: 0.13225655099907327 game: 2021 reward: 165.88223021870692 average score for the last 100 games: 56.799113192630266 partial success avg 0.80 dist 0.45 time: 0.053423 seconds eps: 0.1321242944480742 game: 2022 reward: -334.0569528365611 average score for the last 100 games: 52.18453717174041 partial success avg 0.79 dist 0.45 time: 0.475695 seconds eps: 0.13199217015362613 game: 2023 reward: -361.58228666143356 average score for the last 100 games: 51.307287294794484 partial success avg 0.79 dist 0.45 time: 0.431256 seconds eps: 0.1318601779834725 game: 2024 reward: -285.2982471670261 average score for the last 100 games: 46.579750408474965 partial success avg 0.78 dist 0.45 time: 0.530539 seconds success eps: 0.13172831780548902 game: 2025 reward: 79.15925710709936 average score for the last 100 games: 47.494251724628924 partial success avg 0.78 dist 0.45 time: 0.087267 seconds success eps: 0.13159658948768352 game: 2026 reward: 197.50766016742176 average score for the last 100 games: 52.72387496315757 partial success avg 0.79 dist 0.45 time: 0.007818 seconds success eps: 0.13146499289819583 game: 2027 reward: 174.50480126093169 average score for the last 100 games: 52.71655690326043 partial success avg 0.79 dist 0.45 time: 0.048504 seconds success eps: 0.13133352790529762 game: 2028 reward: 177.34859604534844 average score for the last 100 games: 54.19355683572859 partial success avg 0.79 dist 0.45 time: 0.028233 seconds success eps: 0.13120219437739233 game: 2029 reward: 184.51549808882993 average score for the last 100 games: 55.02067801540333 partial success avg 0.79 dist 0.45 time: 0.027847 seconds success eps: 0.13107099218301493 game: 2030 reward: 187.36910641621554 average score for the last 100 games: 59.602610909582324 partial success avg 0.80 dist 0.45 time: 0.020222 seconds eps: 0.13093992119083192 game: 2031 reward: -228.15958288677734 average score for the last 100 games: 60.57515985037481 partial success avg 0.80 dist 0.45 time: 0.472075 seconds success eps: 0.13080898126964108 game: 2032 reward: 181.39157603075844 average score for the last 100 games: 60.899742459028104 partial success avg 0.80 dist 0.45 time: 0.028802 seconds success eps: 0.13067817228837145 game: 2033 reward: 141.954976681868 average score for the last 100 games: 65.07511308123418 partial success avg 0.81 dist 0.45 time: 0.049042 seconds success eps: 0.13054749411608307 game: 2034 reward: 96.12413672758038 average score for the last 100 games: 64.20686322366876 partial success avg 0.81 dist 0.45 time: 0.07166 seconds success eps: 0.13041694662196698 game: 2035 reward: 174.10995524802445 average score for the last 100 games: 70.52668707817794 partial success avg 0.82 dist 0.45 time: 0.028647 seconds success eps: 0.13028652967534501 game: 2036 reward: 178.27844481649018 average score for the last 100 games: 70.44936712945045 partial success avg 0.82 dist 0.45 time: 0.041954 seconds success eps: 0.13015624314566968 game: 2037 reward: 166.87820825675524 average score for the last 100 games: 75.15000297314118 partial success avg 0.83 dist 0.45 time: 0.036513 seconds eps: 0.130026086902524 game: 2038 reward: -375.5054767094182 average score for the last 100 games: 69.529151822569 partial success avg 0.82 dist 0.45 time: 0.541838 seconds success eps: 0.1298960608156215 game: 2039 reward: 102.76296711797582 average score for the last 100 games: 69.21287562218599 partial success avg 0.82 dist 0.45 time: 0.070117 seconds success eps: 0.12976616475480587 game: 2040 reward: 194.2905535124749 average score for the last 100 games: 69.63312216271433 partial success avg 0.82 dist 0.45 time: 0.015241 seconds success eps: 0.12963639859005108 game: 2041 reward: 196.90445493431602 average score for the last 100 games: 69.62730922831967 partial success avg 0.82 dist 0.45 time: 0.008751 seconds success eps: 0.12950676219146104 game: 2042 reward: 116.81639168808776 average score for the last 100 games: 73.15107634829505 partial success avg 0.83 dist 0.45 time: 0.080256 seconds eps: 0.1293772554292696 game: 2043 reward: -490.8175565583341 average score for the last 100 games: 67.11168554005249 partial success avg 0.82 dist 0.45 time: 0.549163 seconds success eps: 0.1292478781738403 game: 2044 reward: 81.5747675537973 average score for the last 100 games: 66.08084804044469 partial success avg 0.82 dist 0.45 time: 0.114001 seconds success eps: 0.12911863029566648 game: 2045 reward: 162.25354344134092 average score for the last 100 games: 66.54486577410088 partial success avg 0.82 dist 0.45 time: 0.034051 seconds eps: 0.12898951166537082 game: 2046 reward: -274.87823705688885 average score for the last 100 games: 63.571401087676115 partial success avg 0.81 dist 0.45 time: 0.501293 seconds eps: 0.12886052215370544 game: 2047 reward: -278.5217421675544 average score for the last 100 games: 59.031652148912826 partial success avg 0.80 dist 0.45 time: 0.474459 seconds eps: 0.12873166163155172 game: 2048 reward: -272.4826822599451 average score for the last 100 games: 54.406180365371036 partial success avg 0.79 dist 0.45 time: 0.519473 seconds success eps: 0.12860292996992018 game: 2049 reward: 167.7324027852373 average score for the last 100 games: 54.455603243222875 partial success avg 0.79 dist 0.45 time: 0.048871 seconds eps: 0.12847432703995026 game: 2050 reward: -401.1926851848421 average score for the last 100 games: 53.47516794571418 partial success avg 0.79 dist 0.45 time: 0.522587 seconds success eps: 0.12834585271291032 game: 2051 reward: 187.72223457914762 average score for the last 100 games: 58.303084144844895 partial success avg 0.80 dist 0.45 time: 0.020671 seconds success eps: 0.12821750686019742 game: 2052 reward: 130.7112504274099 average score for the last 100 games: 62.91319986321393 partial success avg 0.81 dist 0.45 time: 0.07603 seconds success eps: 0.12808928935333722 game: 2053 reward: 154.65449289494063 average score for the last 100 games: 62.77226082586275 partial success avg 0.81 dist 0.45 time: 0.047358 seconds success eps: 0.12796120006398387 game: 2054 reward: 143.4496499505848 average score for the last 100 games: 63.73273216776161 partial success avg 0.81 dist 0.45 time: 0.049619 seconds success eps: 0.1278332388639199 game: 2055 reward: 193.84928396540195 average score for the last 100 games: 63.69704151129112 partial success avg 0.81 dist 0.45 time: 0.015445 seconds success eps: 0.12770540562505597 game: 2056 reward: 148.73981566371864 average score for the last 100 games: 63.46515517860332 partial success avg 0.81 dist 0.45 time: 0.077661 seconds success eps: 0.1275777002194309 game: 2057 reward: 148.60047858979996 average score for the last 100 games: 67.69775331536809 partial success avg 0.82 dist 0.45 time: 0.047395 seconds success eps: 0.12745012251921148 game: 2058 reward: 187.922953771373 average score for the last 100 games: 68.61298624006373 partial success avg 0.82 dist 0.45 time: 0.02143 seconds success eps: 0.12732267239669226 game: 2059 reward: 175.29291855314375 average score for the last 100 games: 73.2232717802728 partial success avg 0.83 dist 0.45 time: 0.035185 seconds success eps: 0.12719534972429558 game: 2060 reward: 159.11809143477544 average score for the last 100 games: 73.07100881539878 partial success avg 0.83 dist 0.45 time: 0.050552 seconds success eps: 0.12706815437457128 game: 2061 reward: 190.17884734113488 average score for the last 100 games: 74.19942342585595 partial success avg 0.83 dist 0.45 time: 0.022416 seconds success eps: 0.1269410862201967 game: 2062 reward: 108.62768634098632 average score for the last 100 games: 74.2546220650402 partial success avg 0.83 dist 0.45 time: 0.088157 seconds success eps: 0.1268141451339765 game: 2063 reward: 193.6800092297487 average score for the last 100 games: 74.40486782175527 partial success avg 0.83 dist 0.45 time: 0.020272 seconds success eps: 0.12668733098884255 game: 2064 reward: 168.03395647890306 average score for the last 100 games: 78.67444597144882 partial success avg 0.84 dist 0.45 time: 0.067364 seconds success eps: 0.12656064365785372 game: 2065 reward: 39.28608941854043 average score for the last 100 games: 77.20888337803764 partial success avg 0.84 dist 0.45 time: 0.127569 seconds success eps: 0.12643408301419587 game: 2066 reward: 110.17999743225104 average score for the last 100 games: 76.36949392485619 partial success avg 0.84 dist 0.45 time: 0.069364 seconds success eps: 0.12630764893118168 game: 2067 reward: 169.27185369502521 average score for the last 100 games: 76.35934742623161 partial success avg 0.84 dist 0.45 time: 0.046862 seconds success eps: 0.1261813412822505 game: 2068 reward: 102.02409305820206 average score for the last 100 games: 75.66765446520662 partial success avg 0.84 dist 0.45 time: 0.076574 seconds success eps: 0.12605515994096825 game: 2069 reward: 153.42564500398123 average score for the last 100 games: 75.23156624077434 partial success avg 0.84 dist 0.45 time: 0.049923 seconds success eps: 0.12592910478102728 game: 2070 reward: -57.55212539082228 average score for the last 100 games: 73.35533652832363 partial success avg 0.84 dist 0.45 time: 0.466214 seconds success eps: 0.12580317567624627 game: 2071 reward: 173.83890315692526 average score for the last 100 games: 73.28121647490165 partial success avg 0.84 dist 0.45 time: 0.03341 seconds success eps: 0.12567737250057 game: 2072 reward: 176.45002574594974 average score for the last 100 games: 73.50788599053257 partial success avg 0.84 dist 0.45 time: 0.041989 seconds success eps: 0.12555169512806943 game: 2073 reward: 65.01705472778045 average score for the last 100 games: 72.54471478279247 partial success avg 0.84 dist 0.45 time: 0.0848 seconds success eps: 0.12542614343294137 game: 2074 reward: -66.32764399963219 average score for the last 100 games: 70.45580773426583 partial success avg 0.84 dist 0.45 time: 0.246032 seconds success eps: 0.12530071728950842 game: 2075 reward: 197.08146772874935 average score for the last 100 games: 70.55937548420087 partial success avg 0.84 dist 0.45 time: 0.007379 seconds success eps: 0.12517541657221892 game: 2076 reward: 172.19818660908604 average score for the last 100 games: 71.13779995817065 partial success avg 0.84 dist 0.45 time: 0.034234 seconds success eps: 0.1250502411556467 game: 2077 reward: 166.4202863062279 average score for the last 100 games: 75.45023907879533 partial success avg 0.85 dist 0.45 time: 0.040149 seconds success eps: 0.12492519091449104 game: 2078 reward: 143.09953463883423 average score for the last 100 games: 75.28228701230773 partial success avg 0.85 dist 0.45 time: 0.053677 seconds success eps: 0.12480026572357655 game: 2079 reward: 24.337825229427125 average score for the last 100 games: 74.10763785163483 partial success avg 0.85 dist 0.45 time: 0.203888 seconds eps: 0.12467546545785298 game: 2080 reward: -284.5859702189059 average score for the last 100 games: 70.37349947373956 partial success avg 0.84 dist 0.45 time: 0.401101 seconds success eps: 0.12455078999239512 game: 2081 reward: 134.14416733956438 average score for the last 100 games: 70.38017709456511 partial success avg 0.84 dist 0.45 time: 0.053005 seconds eps: 0.12442623920240273 game: 2082 reward: -247.8528165551437 average score for the last 100 games: 66.21692038823382 partial success avg 0.83 dist 0.45 time: 0.388573 seconds success eps: 0.12430181296320032 game: 2083 reward: 83.30812044255491 average score for the last 100 games: 65.37181823635815 partial success avg 0.83 dist 0.45 time: 0.064915 seconds success eps: 0.12417751115023712 game: 2084 reward: 149.3996566828987 average score for the last 100 games: 65.32835691518183 partial success avg 0.83 dist 0.45 time: 0.043878 seconds success eps: 0.12405333363908688 game: 2085 reward: 197.2196012683406 average score for the last 100 games: 65.40267394836529 partial success avg 0.83 dist 0.45 time: 0.009176 seconds success eps: 0.1239292803054478 game: 2086 reward: 162.81946319854782 average score for the last 100 games: 65.16669185172427 partial success avg 0.83 dist 0.45 time: 0.056615 seconds success eps: 0.12380535102514234 game: 2087 reward: 193.48682133401982 average score for the last 100 games: 66.11707891249925 partial success avg 0.83 dist 0.45 time: 0.013657 seconds success eps: 0.1236815456741172 game: 2088 reward: 166.57580051954318 average score for the last 100 games: 66.06697243921933 partial success avg 0.83 dist 0.45 time: 0.034995 seconds eps: 0.12355786412844308 game: 2089 reward: -294.3513402873196 average score for the last 100 games: 61.30992717812099 partial success avg 0.82 dist 0.45 time: 0.460338 seconds eps: 0.12343430626431463 game: 2090 reward: -270.48006758629083 average score for the last 100 games: 57.338250814384864 partial success avg 0.81 dist 0.45 time: 0.377351 seconds success eps: 0.12331087195805032 game: 2091 reward: 154.2437570448958 average score for the last 100 games: 57.25799087176146 partial success avg 0.81 dist 0.45 time: 0.039975 seconds success eps: 0.12318756108609227 game: 2092 reward: 185.95721185580737 average score for the last 100 games: 57.28977056177714 partial success avg 0.81 dist 0.45 time: 0.027577 seconds success eps: 0.12306437352500618 game: 2093 reward: 175.49863016815692 average score for the last 100 games: 64.11820382170642 partial success avg 0.82 dist 0.45 time: 0.045855 seconds success eps: 0.12294130915148117 game: 2094 reward: 186.11722806975393 average score for the last 100 games: 65.32045372338945 partial success avg 0.82 dist 0.45 time: 0.026924 seconds success eps: 0.12281836784232969 game: 2095 reward: 197.85265338592342 average score for the last 100 games: 66.07193216549118 partial success avg 0.82 dist 0.45 time: 0.007467 seconds eps: 0.12269554947448735 game: 2096 reward: -280.9744545732977 average score for the last 100 games: 65.71199781183677 partial success avg 0.82 dist 0.45 time: 0.396313 seconds success eps: 0.12257285392501287 game: 2097 reward: 183.79520500177384 average score for the last 100 games: 65.87113748558244 partial success avg 0.82 dist 0.45 time: 0.025832 seconds success eps: 0.12245028107108785 game: 2098 reward: 179.3787112703568 average score for the last 100 games: 66.16132335152659 partial success avg 0.82 dist 0.45 time: 0.027265 seconds success eps: 0.12232783079001676 game: 2099 reward: 141.65021080141702 average score for the last 100 games: 66.29456451064272 partial success avg 0.82 dist 0.45 time: 0.059868 seconds success eps: 0.12220550295922675 game: 2100 reward: 174.46251674381915 average score for the last 100 games: 66.06549568180371 partial success avg 0.82 dist 0.45 time: 0.034976 seconds success eps: 0.12208329745626752 game: 2101 reward: 94.08222257451145 average score for the last 100 games: 65.19362597007343 partial success avg 0.82 dist 0.45 time: 0.067977 seconds eps: 0.12196121415881125 game: 2102 reward: -259.44492983651537 average score for the last 100 games: 60.63005516247196 partial success avg 0.81 dist 0.45 time: 0.505111 seconds eps: 0.12183925294465245 game: 2103 reward: -245.19845235383193 average score for 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0.063757 seconds eps: 0.12111004258082052 game: 2109 reward: -267.9035173067718 average score for the last 100 games: 58.02822919902214 partial success avg 0.80 dist 0.45 time: 0.43258 seconds success eps: 0.1209889325382397 game: 2110 reward: 157.0913376362547 average score for the last 100 games: 58.084920533794985 partial success avg 0.80 dist 0.45 time: 0.060247 seconds success eps: 0.12086794360570145 game: 2111 reward: 193.86396516609943 average score for the last 100 games: 64.32781945691798 partial success avg 0.81 dist 0.45 time: 0.014401 seconds success eps: 0.12074707566209575 game: 2112 reward: 193.49990311590423 average score for the last 100 games: 64.86432709728417 partial success avg 0.81 dist 0.45 time: 0.014342 seconds success eps: 0.12062632858643366 game: 2113 reward: 194.26887712526926 average score for the last 100 games: 65.2840687722599 partial success avg 0.81 dist 0.45 time: 0.014435 seconds success eps: 0.12050570225784722 game: 2114 reward: 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for the last 100 games: 111.10883608402706 partial success avg 0.90 dist 0.45 time: 0.04796 seconds success NEXT LEVEL eps: 0.30740852285208076 game: 2229 reward: 192.81171296699756 average score for the last 100 games: 115.99255923941995 partial success avg nan dist 0.36 time: 0.014094 seconds success eps: 0.30710111432922865 game: 2230 reward: 197.39148761685593 average score for the last 100 games: 116.19306322704044 partial success avg 1.00 dist 0.36 time: 0.007515 seconds
/home/kuka/miniconda3/lib/python3.9/site-packages/numpy/core/fromnumeric.py:3504: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /home/kuka/miniconda3/lib/python3.9/site-packages/numpy/core/_methods.py:129: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount)
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reward: 173.11222486415357 average score for the last 100 games: 67.74451907805265 partial success avg 0.78 dist 0.06 time: 0.065036 seconds eps: 0.01 game: 19678 reward: -161.9271538072714 average score for the last 100 games: 65.22661252683031 partial success avg 0.77 dist 0.06 time: 0.410051 seconds success eps: 0.01 game: 19679 reward: 114.48238096000884 average score for the last 100 games: 64.70877462012655 partial success avg 0.77 dist 0.06 time: 0.383436 seconds success eps: 0.01 game: 19680 reward: 158.1408014323611 average score for the last 100 games: 64.59187987343925 partial success avg 0.77 dist 0.06 time: 0.100121 seconds success eps: 0.01 game: 19681 reward: 21.401520673272245 average score for the last 100 games: 63.13006286795014 partial success avg 0.77 dist 0.06 time: 0.382057 seconds success eps: 0.01 game: 19682 reward: 151.9108299947862 average score for the last 100 games: 63.04623930429272 partial success avg 0.77 dist 0.06 time: 0.089017 seconds success eps: 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for the last 100 games: 75.49236630085369 partial success avg 0.79 dist 0.06 time: 0.394185 seconds eps: 0.01 game: 19790 reward: -165.2914165405818 average score for the last 100 games: 72.40673652115859 partial success avg 0.78 dist 0.06 time: 0.44578 seconds eps: 0.01 game: 19791 reward: -128.04590106335814 average score for the last 100 games: 73.0329669813944 partial success avg 0.78 dist 0.06 time: 0.405768 seconds success eps: 0.01 game: 19792 reward: 45.848181749462924 average score for the last 100 games: 76.02828822788912 partial success avg 0.79 dist 0.06 time: 0.329639 seconds success eps: 0.01 game: 19793 reward: 70.97129530418809 average score for the last 100 games: 75.14782254573832 partial success avg 0.79 dist 0.06 time: 0.080456 seconds success eps: 0.01 game: 19794 reward: 139.30744029300172 average score for the last 100 games: 75.88552889395976 partial success avg 0.79 dist 0.06 time: 0.192084 seconds success eps: 0.01 game: 19795 reward: 101.95050969551396 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0.04 time: 0.078367 seconds success eps: 0.01 game: 29896 reward: 155.91560643159033 average score for the last 100 games: 50.87579735813194 partial success avg 0.72 dist 0.04 time: 0.147836 seconds eps: 0.01 game: 29897 reward: -121.15208519481868 average score for the last 100 games: 48.251868979350554 partial success avg 0.71 dist 0.04 time: 0.583774 seconds eps: 0.01 game: 29898 reward: -196.02150424294163 average score for the last 100 games: 44.96312829472623 partial success avg 0.70 dist 0.04 time: 0.391751 seconds success eps: 0.01 game: 29899 reward: 183.89250563839443 average score for the last 100 games: 45.51417220082093 partial success avg 0.70 dist 0.04 time: 0.040994 seconds eps: 0.01 game: 29900 reward: -123.13995177035768 average score for the last 100 games: 42.58020259750956 partial success avg 0.69 dist 0.04 time: 0.594512 seconds success eps: 0.01 game: 29901 reward: 95.77741588223968 average score for the last 100 games: 45.23998008396468 partial success avg 0.70 dist 0.04 time: 0.1251 seconds eps: 0.01 game: 29902 reward: -120.9578468312866 average score for the last 100 games: 43.32243947534874 partial success avg 0.69 dist 0.04 time: 0.560687 seconds success eps: 0.01 game: 29903 reward: 137.2282289573565 average score for the last 100 games: 46.50418186545865 partial success avg 0.70 dist 0.04 time: 0.079935 seconds eps: 0.01 game: 29904 reward: -126.93611700920694 average score for the last 100 games: 47.319072855218984 partial success avg 0.70 dist 0.04 time: 0.406356 seconds success eps: 0.01 game: 29905 reward: 139.05487420271126 average score for the last 100 games: 50.5719920200069 partial success avg 0.71 dist 0.04 time: 0.177881 seconds success eps: 0.01 game: 29906 reward: 20.8889075696342 average score for the last 100 games: 52.3375099127702 partial success avg 0.72 dist 0.04 time: 0.276211 seconds success eps: 0.01 game: 29907 reward: 102.5872251000847 average score for the last 100 games: 52.9650039409624 partial success avg 0.72 dist 0.04 time: 0.406563 seconds success eps: 0.01 game: 29908 reward: 70.48596415104014 average score for the last 100 games: 52.199503058973114 partial success avg 0.72 dist 0.04 time: 0.199034 seconds success eps: 0.01 game: 29909 reward: 156.24290626084624 average score for the last 100 games: 55.196543278300396 partial success avg 0.73 dist 0.04 time: 0.082993 seconds success eps: 0.01 game: 29910 reward: 59.29012847262439 average score for the last 100 games: 54.35239411138952 partial success avg 0.73 dist 0.04 time: 0.561654 seconds success eps: 0.01 game: 29911 reward: 125.20539782970742 average score for the last 100 games: 56.884235423399666 partial success avg 0.74 dist 0.04 time: 0.065528 seconds eps: 0.01 game: 29912 reward: -129.012215848031 average score for the last 100 games: 53.986228953550125 partial success avg 0.73 dist 0.04 time: 0.55432 seconds eps: 0.01 game: 29913 reward: -142.8224007296418 average score for the last 100 games: 51.02033237426853 partial success avg 0.72 dist 0.04 time: 0.527364 seconds success eps: 0.01 game: 29914 reward: 81.66769845970862 average score for the last 100 games: 50.74785302343009 partial success avg 0.72 dist 0.04 time: 0.467559 seconds success eps: 0.01 game: 29915 reward: 168.8891075534892 average score for the last 100 games: 50.537627561719326 partial success avg 0.72 dist 0.04 time: 0.089826 seconds success eps: 0.01 game: 29916 reward: 171.81213140382533 average score for the last 100 games: 53.681819352115525 partial success avg 0.73 dist 0.04 time: 0.075111 seconds success eps: 0.01 game: 29917 reward: 136.05599442664015 average score for the last 100 games: 53.65727096206128 partial success avg 0.73 dist 0.04 time: 0.200577 seconds success eps: 0.01 game: 29918 reward: 155.9604426194165 average score for the last 100 games: 53.8951392292403 partial success avg 0.73 dist 0.04 time: 0.076366 seconds success eps: 0.01 game: 29919 reward: 163.83033423800367 average score for the last 100 games: 53.89622451273501 partial success avg 0.73 dist 0.04 time: 0.094585 seconds success eps: 0.01 game: 29920 reward: 157.60656020916724 average score for the last 100 games: 56.793899896851656 partial success avg 0.74 dist 0.04 time: 0.05045 seconds success eps: 0.01 game: 29921 reward: 167.26479357308713 average score for the last 100 games: 56.72938446688733 partial success avg 0.74 dist 0.04 time: 0.056862 seconds eps: 0.01 game: 29922 reward: -126.12233925489122 average score for the last 100 games: 54.48968888818354 partial success avg 0.73 dist 0.04 time: 0.409527 seconds success eps: 0.01 game: 29923 reward: 138.21168455430043 average score for the last 100 games: 54.75772704811821 partial success avg 0.73 dist 0.04 time: 0.235793 seconds eps: 0.01 game: 29924 reward: -149.03673851676902 average score for the last 100 games: 51.71134151752469 partial success avg 0.72 dist 0.04 time: 0.582484 seconds eps: 0.01 game: 29925 reward: -132.9213766512018 average score for the last 100 games: 49.41525426295276 partial success avg 0.71 dist 0.04 time: 0.395272 seconds eps: 0.01 game: 29926 reward: -126.70041632851735 average score for the last 100 games: 46.679365590626105 partial success avg 0.70 dist 0.04 time: 0.384823 seconds success eps: 0.01 game: 29927 reward: 169.89989956202828 average score for the last 100 games: 47.75898240787374 partial success avg 0.70 dist 0.04 time: 0.079177 seconds success eps: 0.01 game: 29928 reward: 143.02858626003535 average score for the last 100 games: 51.33548377421348 partial success avg 0.71 dist 0.04 time: 0.228984 seconds success eps: 0.01 game: 29929 reward: 102.68948968107206 average score for the last 100 games: 51.383173825461526 partial success avg 0.71 dist 0.04 time: 0.176751 seconds success eps: 0.01 game: 29930 reward: 129.4204033275763 average score for the last 100 games: 54.654347577373734 partial success avg 0.72 dist 0.04 time: 0.200923 seconds success eps: 0.01 game: 29931 reward: 190.46719242758158 average score for the last 100 games: 54.83983434337929 partial success avg 0.72 dist 0.04 time: 0.027615 seconds eps: 0.01 game: 29932 reward: -201.549946213299 average score for the last 100 games: 52.04966343556676 partial success avg 0.71 dist 0.04 time: 0.387752 seconds eps: 0.01 game: 29933 reward: -143.45842080500373 average score for the last 100 games: 48.89511930372452 partial success avg 0.70 dist 0.04 time: 0.550523 seconds eps: 0.01 game: 29934 reward: -201.70095118207766 average score for the last 100 games: 45.312505417723145 partial success avg 0.69 dist 0.04 time: 0.377278 seconds eps: 0.01 game: 29935 reward: -120.24010403496835 average score for the last 100 games: 42.472613083252725 partial success avg 0.68 dist 0.04 time: 0.576826 seconds eps: 0.01 game: 29936 reward: -211.22312998921947 average score for the last 100 games: 39.330560655940474 partial success avg 0.67 dist 0.04 time: 0.397014 seconds eps: 0.01 game: 29937 reward: -132.64107968739646 average score for the last 100 games: 36.995778424949975 partial success avg 0.66 dist 0.04 time: 0.53667 seconds success eps: 0.01 game: 29938 reward: 64.57095619590476 average score for the last 100 games: 39.222949684362 partial success avg 0.67 dist 0.04 time: 0.202159 seconds success eps: 0.01 game: 29939 reward: 32.45798224383799 average score for the last 100 games: 38.26948421591543 partial success avg 0.67 dist 0.04 time: 0.354363 seconds success eps: 0.01 game: 29940 reward: 163.87429905306172 average score for the last 100 games: 38.36748437832422 partial success avg 0.67 dist 0.04 time: 0.087478 seconds success eps: 0.01 game: 29941 reward: 110.76476351246077 average score for the last 100 games: 37.776021870370215 partial success avg 0.67 dist 0.04 time: 0.268481 seconds success eps: 0.01 game: 29942 reward: 68.02989116269981 average score for the last 100 games: 36.72596173852267 partial success avg 0.67 dist 0.04 time: 0.276676 seconds success eps: 0.01 game: 29943 reward: 119.45909227679526 average score for the last 100 games: 39.11271649208416 partial success avg 0.68 dist 0.04 time: 0.078791 seconds success eps: 0.01 game: 29944 reward: 40.40532580467723 average score for the last 100 games: 41.06248675056005 partial success avg 0.69 dist 0.04 time: 0.53822 seconds success eps: 0.01 game: 29945 reward: 120.04368663487763 average score for the last 100 games: 40.499183447343725 partial success avg 0.69 dist 0.04 time: 0.086364 seconds eps: 0.01 game: 29946 reward: -145.00140049808596 average score for the last 100 games: 37.673375140418926 partial success avg 0.68 dist 0.04 time: 0.530834 seconds success eps: 0.01 game: 29947 reward: 108.86416488920854 average score for the last 100 games: 37.067750607309094 partial success avg 0.68 dist 0.04 time: 0.141111 seconds eps: 0.01 game: 29948 reward: -132.63548091550766 average score for the last 100 games: 34.014365317566 partial success avg 0.67 dist 0.04 time: 0.437294 seconds success eps: 0.01 game: 29949 reward: 150.58372216454416 average score for the last 100 games: 33.84006382464222 partial success avg 0.67 dist 0.04 time: 0.16822 seconds eps: 0.01 game: 29950 reward: -604.7997113170541 average score for the last 100 games: 29.316331085943652 partial success avg 0.67 dist 0.04 time: 0.368647 seconds eps: 0.01 game: 29951 reward: -157.01266930791095 average score for the last 100 games: 26.228008734674944 partial success avg 0.66 dist 0.04 time: 0.369293 seconds eps: 0.01 game: 29952 reward: -121.58237649607366 average score for the last 100 games: 23.59017658748307 partial success avg 0.65 dist 0.04 time: 0.581456 seconds success eps: 0.01 game: 29953 reward: 90.35928774097854 average score for the last 100 games: 23.716840539814278 partial success avg 0.65 dist 0.04 time: 0.209027 seconds success eps: 0.01 game: 29954 reward: 99.54376037981206 average score for the last 100 games: 25.964800647101747 partial success avg 0.66 dist 0.04 time: 0.080429 seconds eps: 0.01 game: 29955 reward: -161.2063255314022 average score for the last 100 games: 23.05116407625276 partial success avg 0.65 dist 0.04 time: 0.559113 seconds success eps: 0.01 game: 29956 reward: 124.19681856129246 average score for the last 100 games: 25.629147225100805 partial success avg 0.66 dist 0.04 time: 0.104635 seconds success eps: 0.01 game: 29957 reward: 71.5043008390109 average score for the last 100 games: 25.473154535615073 partial success avg 0.66 dist 0.04 time: 0.298835 seconds success eps: 0.01 game: 29958 reward: 172.37779148070075 average score for the last 100 games: 25.666742846082652 partial success avg 0.66 dist 0.04 time: 0.070489 seconds eps: 0.01 game: 29959 reward: -137.53346953923437 average score for the last 100 games: 25.71366094824569 partial success avg 0.66 dist 0.04 time: 0.566484 seconds success eps: 0.01 game: 29960 reward: 154.1955604787993 average score for the last 100 games: 25.815391102667615 partial success avg 0.66 dist 0.04 time: 0.046727 seconds success eps: 0.01 game: 29961 reward: 30.413219755337593 average score for the last 100 games: 25.418230860682257 partial success avg 0.66 dist 0.04 time: 0.322342 seconds success eps: 0.01 game: 29962 reward: 149.3490072939166 average score for the last 100 games: 25.981214479775687 partial success avg 0.66 dist 0.04 time: 0.046922 seconds success eps: 0.01 game: 29963 reward: 83.4791099717231 average score for the last 100 games: 25.462188775889473 partial success avg 0.66 dist 0.04 time: 0.572526 seconds eps: 0.01 game: 29964 reward: -125.81638890042076 average score for the last 100 games: 22.847889628277915 partial success avg 0.65 dist 0.04 time: 0.436686 seconds eps: 0.01 game: 29965 reward: -140.514225159419 average score for the last 100 games: 20.51700914206217 partial success avg 0.64 dist 0.04 time: 0.590465 seconds eps: 0.01 game: 29966 reward: -206.83569667239388 average score for the last 100 games: 16.899496597363314 partial success avg 0.63 dist 0.04 time: 0.405849 seconds success eps: 0.01 game: 29967 reward: 50.38310085163823 average score for the last 100 games: 16.652656954120108 partial success avg 0.63 dist 0.04 time: 0.119852 seconds success eps: 0.01 game: 29968 reward: 99.82970541151798 average score for the last 100 games: 16.589787138993408 partial success avg 0.63 dist 0.04 time: 0.304109 seconds success eps: 0.01 game: 29969 reward: 125.97907671238245 average score for the last 100 games: 19.33281839976972 partial success avg 0.64 dist 0.04 time: 0.207992 seconds eps: 0.01 game: 29970 reward: -186.17881668013132 average score for the last 100 games: 19.597791753503273 partial success avg 0.64 dist 0.04 time: 0.396938 seconds success eps: 0.01 game: 29971 reward: 179.48467712230075 average score for the last 100 games: 23.298910016579015 partial success avg 0.65 dist 0.04 time: 0.033006 seconds eps: 0.01 game: 29972 reward: -171.27898702928164 average score for the last 100 games: 23.469558786245205 partial success avg 0.65 dist 0.04 time: 0.423513 seconds success eps: 0.01 game: 29973 reward: 143.48077090759097 average score for the last 100 games: 23.665075315698573 partial success avg 0.65 dist 0.04 time: 0.163644 seconds success eps: 0.01 game: 29974 reward: 160.34380452428218 average score for the last 100 games: 26.519161326195682 partial success avg 0.66 dist 0.04 time: 0.056453 seconds eps: 0.01 game: 29975 reward: -172.88781769506758 average score for the last 100 games: 23.637404690653867 partial success avg 0.65 dist 0.04 time: 0.400857 seconds success eps: 0.01 game: 29976 reward: 161.24423730097962 average score for the last 100 games: 23.90240210756389 partial success avg 0.65 dist 0.04 time: 0.061042 seconds success eps: 0.01 game: 29977 reward: 130.91707288658586 average score for the last 100 games: 23.69063607752639 partial success avg 0.65 dist 0.04 time: 0.292154 seconds success eps: 0.01 game: 29978 reward: 59.85685953372467 average score for the last 100 games: 22.699941023680594 partial success avg 0.65 dist 0.04 time: 0.286339 seconds eps: 0.01 game: 29979 reward: -196.15641514487294 average score for the last 100 games: 19.85631134544103 partial success avg 0.64 dist 0.04 time: 0.401058 seconds eps: 0.01 game: 29980 reward: -128.38658273336458 average score for the last 100 games: 16.840289255557163 partial success avg 0.63 dist 0.04 time: 0.614446 seconds eps: 0.01 game: 29981 reward: -150.1634429153276 average score for the last 100 games: 16.662659836309594 partial success avg 0.63 dist 0.04 time: 0.549966 seconds success eps: 0.01 game: 29982 reward: 74.14942818778889 average score for the last 100 games: 15.954087293898288 partial success avg 0.63 dist 0.04 time: 0.113549 seconds success eps: 0.01 game: 29983 reward: 129.5195172102716 average score for the last 100 games: 18.680008722252083 partial success avg 0.64 dist 0.04 time: 0.248881 seconds eps: 0.01 game: 29984 reward: -126.91502262813563 average score for the last 100 games: 18.62540561703685 partial success avg 0.64 dist 0.04 time: 0.391443 seconds success eps: 0.01 game: 29985 reward: 24.564074397374128 average score for the last 100 games: 17.608752878210232 partial success avg 0.64 dist 0.04 time: 0.369263 seconds success eps: 0.01 game: 29986 reward: 168.64309717585166 average score for the last 100 games: 18.40205556433115 partial success avg 0.64 dist 0.04 time: 0.049482 seconds success eps: 0.01 game: 29987 reward: 165.16654338245223 average score for the last 100 games: 19.45214667054587 partial success avg 0.64 dist 0.04 time: 0.1187 seconds eps: 0.01 game: 29988 reward: -128.0232994526981 average score for the last 100 games: 17.150400072608132 partial success avg 0.63 dist 0.04 time: 0.558313 seconds success eps: 0.01 game: 29989 reward: 71.59109440846699 average score for the last 100 games: 16.423113152609783 partial success avg 0.63 dist 0.04 time: 0.263224 seconds success eps: 0.01 game: 29990 reward: 142.42057389027593 average score for the last 100 games: 16.667787170432476 partial success avg 0.63 dist 0.04 time: 0.101015 seconds success eps: 0.01 game: 29991 reward: 167.93579461867088 average score for the last 100 games: 16.701041647933305 partial success avg 0.63 dist 0.04 time: 0.041771 seconds success eps: 0.01 game: 29992 reward: 163.6727628993731 average score for the last 100 games: 16.49286146278771 partial success avg 0.63 dist 0.04 time: 0.117666 seconds success eps: 0.01 game: 29993 reward: 160.02432039196165 average score for the last 100 games: 19.92635111571138 partial success avg 0.64 dist 0.04 time: 0.109202 seconds eps: 0.01 game: 29994 reward: -121.47468847901602 average score for the last 100 games: 19.915907931047286 partial success avg 0.64 dist 0.04 time: 0.55154 seconds success eps: 0.01 game: 29995 reward: 85.35671041019611 average score for the last 100 games: 19.223700000704596 partial success avg 0.64 dist 0.04 time: 0.133698 seconds success eps: 0.01 game: 29996 reward: 116.45589098247486 average score for the last 100 games: 18.82910284621345 partial success avg 0.64 dist 0.04 time: 0.172033 seconds success eps: 0.01 game: 29997 reward: 156.97074063328785 average score for the last 100 games: 21.610331104494506 partial success avg 0.65 dist 0.04 time: 0.136114 seconds eps: 0.01 game: 29998 reward: -186.73300472302486 average score for the last 100 games: 21.70321609969368 partial success avg 0.65 dist 0.04 time: 0.476555 seconds success eps: 0.01 game: 29999 reward: 20.12043753976289 average score for the last 100 games: 20.065495418707364 partial success avg 0.65 dist 0.04 time: 0.43834 seconds success
eps: 0.01 game: 30000 reward: 79.35928960060333 average score for the last 100 games: 22.090487832416976 partial success avg 0.66 dist 0.04 time: 0.89349 seconds Total time: 13001.631338 seconds
In [6]:
print(max_game)
28945
In [11]:
def plot_learning_curve(x, scores, figure_file):
running_avg_score = np.zeros(len(scores))
for i in range(len(running_avg_score)):
running_avg_score[i] = np.mean(scores[max(0, i-100):(i+1)])
plt.plot(x, running_avg_score, '-b')
plt.ylim(-300,200)
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Pontuação',fontsize='18')
plt.axvline(x=next_level_points[-1], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(-300,-200,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,-200,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Média móvel das últimas 100 pontuações',size='20',weight='bold')
plt.savefig(figure_file)
def plot_success_curve(x, successes, figure_file):
running_success_rate = np.zeros(len(successes))
for i in range(len(running_success_rate)):
running_success_rate[i] = np.mean(successes[max(0, i-50):(i+1)])
plt.plot(x, running_success_rate, '-g')
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Taxa de sucesso',fontsize='18')
plt.axvline(x=next_level_points[-1], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(80,0.18,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,0.18,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Taxa de sucesso dos últimos 50 episódios',size='20',weight='bold')
plt.savefig(figure_file)
def plot_step_curve(x, steps, figure_file):
running_step_avg = np.zeros(len(steps))
for i in range(len(running_step_avg)):
running_step_avg[i] = np.mean(steps[max(0, i-200):(i+1)])
plt.plot(x, running_step_avg, '-g')
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Tempo até atingir o alvo (s)',fontsize='18')
plt.axvline(x=next_level_points[-1], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(65,4,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,4,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Média móvel da duração dos últimos 200 episódios',size='20',weight='bold')
plt.savefig(figure_file)
x = [i+1 for i in range(30001)]
%matplotlib inline
plt.figure('learning',figsize=(15,6))
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching',figsize=(15,6))
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps',figsize=(15,6))
plot_step_curve(x, step_history, figure_file_steps)
In [24]:
save_model(agent.main_model, MODEL_FILE)
store_actions(game_actions, MODEL_FILE+'_actions')
In [12]:
plt.ion()
env = MujocoEnv2_1()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
success_games = []
fixedGames = []
for i in np.arange(1, 1.6, 0.1):
for j in np.arange(0, 2*np.pi, np.pi/18):
list = [i, j]
fixedGames.append(list)
for game in range(len(fixedGames)):
env.variaPos(float(fixedGames[game][0]),float(fixedGames[game][1]))
done = False
score = 0
success = 0
observation = env.resetFixo()
game_actions = [] # actions taken during this game
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.rstep(action)
action = torch.tensor(action).long()
#agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
#if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0:
success = 1
media.show_video(env.frames, fps=env.framerate)
print('Jogo:', game, ' \ Raio:', env.radius, ' \ Ângulo:', env.angle*180/np.pi)
print('Recompensa:', str(score))
print('-------------------------------------------------')
if success: success_games.append((env.radius,env.angle))
success
Jogo: 0 \ Raio: 1.0 \ Ângulo: 0.0 Recompensa: 152.44738038206467 ------------------------------------------------- success
Jogo: 1 \ Raio: 1.0 \ Ângulo: 10.0 Recompensa: 129.90739272750133 ------------------------------------------------- success
Jogo: 2 \ Raio: 1.0 \ Ângulo: 20.0 Recompensa: 171.33766268198318 ------------------------------------------------- success
Jogo: 3 \ Raio: 1.0 \ Ângulo: 29.999999999999996 Recompensa: 118.04440676994473 -------------------------------------------------
Jogo: 4 \ Raio: 1.0 \ Ângulo: 40.0 Recompensa: -135.55856636517555 ------------------------------------------------- success
Jogo: 5 \ Raio: 1.0 \ Ângulo: 50.0 Recompensa: 138.2063577163232 ------------------------------------------------- success
Jogo: 6 \ Raio: 1.0 \ Ângulo: 59.99999999999999 Recompensa: 130.25684511344946 ------------------------------------------------- success
Jogo: 7 \ Raio: 1.0 \ Ângulo: 70.0 Recompensa: 158.13140514749395 -------------------------------------------------
Jogo: 8 \ Raio: 1.0 \ Ângulo: 80.0 Recompensa: -129.80378955019486 ------------------------------------------------- success
Jogo: 9 \ Raio: 1.0 \ Ângulo: 90.0 Recompensa: 167.464982876166 ------------------------------------------------- success
Jogo: 10 \ Raio: 1.0 \ Ângulo: 100.0 Recompensa: 88.5711098889182 ------------------------------------------------- success
Jogo: 11 \ Raio: 1.0 \ Ângulo: 110.0 Recompensa: 84.58283460301674 ------------------------------------------------- success
Jogo: 12 \ Raio: 1.0 \ Ângulo: 119.99999999999999 Recompensa: 129.8607325989832 ------------------------------------------------- success
Jogo: 13 \ Raio: 1.0 \ Ângulo: 130.0 Recompensa: 150.40107696874804 ------------------------------------------------- success
Jogo: 14 \ Raio: 1.0 \ Ângulo: 140.0 Recompensa: 136.55825643158568 ------------------------------------------------- success
Jogo: 15 \ Raio: 1.0 \ Ângulo: 150.00000000000003 Recompensa: 138.12948414501184 ------------------------------------------------- success
Jogo: 16 \ Raio: 1.0 \ Ângulo: 160.0 Recompensa: 99.57955013587303 ------------------------------------------------- success
Jogo: 17 \ Raio: 1.0 \ Ângulo: 170.0 Recompensa: 128.35429651040303 ------------------------------------------------- success
Jogo: 18 \ Raio: 1.0 \ Ângulo: 180.0 Recompensa: 19.41226385613311 -------------------------------------------------
Jogo: 19 \ Raio: 1.0 \ Ângulo: 190.0 Recompensa: -232.91153206140183 ------------------------------------------------- success
Jogo: 20 \ Raio: 1.0 \ Ângulo: 200.0 Recompensa: 96.2368106750896 ------------------------------------------------- success
Jogo: 21 \ Raio: 1.0 \ Ângulo: 209.99999999999997 Recompensa: 106.89217188637011 -------------------------------------------------
Jogo: 22 \ Raio: 1.0 \ Ângulo: 220.0 Recompensa: -160.94956347619055 -------------------------------------------------
Jogo: 23 \ Raio: 1.0 \ Ângulo: 229.99999999999997 Recompensa: -154.94337912040265 -------------------------------------------------
Jogo: 24 \ Raio: 1.0 \ Ângulo: 239.99999999999997 Recompensa: -152.00010737929975 ------------------------------------------------- success
Jogo: 25 \ Raio: 1.0 \ Ângulo: 249.99999999999997 Recompensa: 114.17487865411256 ------------------------------------------------- success
Jogo: 26 \ Raio: 1.0 \ Ângulo: 260.0 Recompensa: 90.64243692798838 ------------------------------------------------- success
Jogo: 27 \ Raio: 1.0 \ Ângulo: 270.0 Recompensa: 145.99952164945594 ------------------------------------------------- success
Jogo: 28 \ Raio: 1.0 \ Ângulo: 280.0 Recompensa: 119.63777238263759 ------------------------------------------------- success
Jogo: 29 \ Raio: 1.0 \ Ângulo: 290.0 Recompensa: 148.0647430903862 ------------------------------------------------- success
Jogo: 30 \ Raio: 1.0 \ Ângulo: 300.00000000000006 Recompensa: 141.87547090155803 ------------------------------------------------- success
Jogo: 31 \ Raio: 1.0 \ Ângulo: 310.0 Recompensa: 171.7802124195666 ------------------------------------------------- success
Jogo: 32 \ Raio: 1.0 \ Ângulo: 320.0 Recompensa: 134.21580692873752 ------------------------------------------------- success
Jogo: 33 \ Raio: 1.0 \ Ângulo: 329.99999999999994 Recompensa: 175.6634646043873 ------------------------------------------------- success
Jogo: 34 \ Raio: 1.0 \ Ângulo: 340.0 Recompensa: 170.8980938480075 ------------------------------------------------- success
Jogo: 35 \ Raio: 1.0 \ Ângulo: 350.00000000000006 Recompensa: 157.53701815099328 ------------------------------------------------- success
Jogo: 36 \ Raio: 1.1 \ Ângulo: 0.0 Recompensa: 170.07475187749793 ------------------------------------------------- success
Jogo: 37 \ Raio: 1.1 \ Ângulo: 10.0 Recompensa: 165.11271627419111 ------------------------------------------------- success
Jogo: 38 \ Raio: 1.1 \ Ângulo: 20.0 Recompensa: 163.96295960165529 ------------------------------------------------- success
Jogo: 39 \ Raio: 1.1 \ Ângulo: 29.999999999999996 Recompensa: 163.17223985442163 ------------------------------------------------- success
Jogo: 40 \ Raio: 1.1 \ Ângulo: 40.0 Recompensa: 150.21203516217304 -------------------------------------------------
Jogo: 41 \ Raio: 1.1 \ Ângulo: 50.0 Recompensa: -131.88085555535483 ------------------------------------------------- success
Jogo: 42 \ Raio: 1.1 \ Ângulo: 59.99999999999999 Recompensa: 170.48684491124067 ------------------------------------------------- success
Jogo: 43 \ Raio: 1.1 \ Ângulo: 70.0 Recompensa: 140.7604036307809 ------------------------------------------------- success
Jogo: 44 \ Raio: 1.1 \ Ângulo: 80.0 Recompensa: 164.38374351080788 -------------------------------------------------
Jogo: 45 \ Raio: 1.1 \ Ângulo: 90.0 Recompensa: -131.17364493065998 ------------------------------------------------- success
Jogo: 46 \ Raio: 1.1 \ Ângulo: 100.0 Recompensa: 155.72293169132377 ------------------------------------------------- success
Jogo: 47 \ Raio: 1.1 \ Ângulo: 110.0 Recompensa: 137.6842792830451 ------------------------------------------------- success
Jogo: 48 \ Raio: 1.1 \ Ângulo: 119.99999999999999 Recompensa: 147.4990106978522 ------------------------------------------------- success
Jogo: 49 \ Raio: 1.1 \ Ângulo: 130.0 Recompensa: 133.96967370773893 ------------------------------------------------- success
Jogo: 50 \ Raio: 1.1 \ Ângulo: 140.0 Recompensa: 135.15651625558849 ------------------------------------------------- success
Jogo: 51 \ Raio: 1.1 \ Ângulo: 150.00000000000003 Recompensa: 102.98309667953274 ------------------------------------------------- success
Jogo: 52 \ Raio: 1.1 \ Ângulo: 160.0 Recompensa: 121.56798407000326 ------------------------------------------------- success
Jogo: 53 \ Raio: 1.1 \ Ângulo: 170.0 Recompensa: 85.62783820050132 -------------------------------------------------
Jogo: 54 \ Raio: 1.1 \ Ângulo: 180.0 Recompensa: -180.15636065110925 -------------------------------------------------
Jogo: 55 \ Raio: 1.1 \ Ângulo: 190.0 Recompensa: -219.98481725003913 -------------------------------------------------
Jogo: 56 \ Raio: 1.1 \ Ângulo: 200.0 Recompensa: -181.55034396659713 -------------------------------------------------
Jogo: 57 \ Raio: 1.1 \ Ângulo: 209.99999999999997 Recompensa: -169.84818795013186 -------------------------------------------------
Jogo: 58 \ Raio: 1.1 \ Ângulo: 220.0 Recompensa: -163.08187286141018 ------------------------------------------------- success
Jogo: 59 \ Raio: 1.1 \ Ângulo: 229.99999999999997 Recompensa: 58.8889562313411 -------------------------------------------------
Jogo: 60 \ Raio: 1.1 \ Ângulo: 239.99999999999997 Recompensa: -148.91995670746994 -------------------------------------------------
Jogo: 61 \ Raio: 1.1 \ Ângulo: 249.99999999999997 Recompensa: -146.03892391637785 -------------------------------------------------
Jogo: 62 \ Raio: 1.1 \ Ângulo: 260.0 Recompensa: -146.9044195478787 ------------------------------------------------- success
Jogo: 63 \ Raio: 1.1 \ Ângulo: 270.0 Recompensa: 163.38898437872513 ------------------------------------------------- success
Jogo: 64 \ Raio: 1.1 \ Ângulo: 280.0 Recompensa: 139.86621062814083 ------------------------------------------------- success
Jogo: 65 \ Raio: 1.1 \ Ângulo: 290.0 Recompensa: 113.5976709670205 ------------------------------------------------- success
Jogo: 66 \ Raio: 1.1 \ Ângulo: 300.00000000000006 Recompensa: 165.9784917342201 ------------------------------------------------- success
Jogo: 67 \ Raio: 1.1 \ Ângulo: 310.0 Recompensa: 139.1600540523303 ------------------------------------------------- success
Jogo: 68 \ Raio: 1.1 \ Ângulo: 320.0 Recompensa: 170.1112582439799 ------------------------------------------------- success
Jogo: 69 \ Raio: 1.1 \ Ângulo: 329.99999999999994 Recompensa: 175.37742621227514 ------------------------------------------------- success
Jogo: 70 \ Raio: 1.1 \ Ângulo: 340.0 Recompensa: 102.06671760949736 ------------------------------------------------- success
Jogo: 71 \ Raio: 1.1 \ Ângulo: 350.00000000000006 Recompensa: 129.4227019415115 ------------------------------------------------- success
Jogo: 72 \ Raio: 1.2000000000000002 \ Ângulo: 0.0 Recompensa: 171.8660666565575 ------------------------------------------------- success
Jogo: 73 \ Raio: 1.2000000000000002 \ Ângulo: 10.0 Recompensa: 179.72895026756623 ------------------------------------------------- success
Jogo: 74 \ Raio: 1.2000000000000002 \ Ângulo: 20.0 Recompensa: 171.7927281463191 ------------------------------------------------- success
Jogo: 75 \ Raio: 1.2000000000000002 \ Ângulo: 29.999999999999996 Recompensa: 166.38088049805248 ------------------------------------------------- success
Jogo: 76 \ Raio: 1.2000000000000002 \ Ângulo: 40.0 Recompensa: 173.79479957175153 ------------------------------------------------- success
Jogo: 77 \ Raio: 1.2000000000000002 \ Ângulo: 50.0 Recompensa: 161.88275246680558 ------------------------------------------------- success
Jogo: 78 \ Raio: 1.2000000000000002 \ Ângulo: 59.99999999999999 Recompensa: 171.46338174398048 -------------------------------------------------
Jogo: 79 \ Raio: 1.2000000000000002 \ Ângulo: 70.0 Recompensa: -126.58672474832207 ------------------------------------------------- success
Jogo: 80 \ Raio: 1.2000000000000002 \ Ângulo: 80.0 Recompensa: 146.57487756420244 ------------------------------------------------- success
Jogo: 81 \ Raio: 1.2000000000000002 \ Ângulo: 90.0 Recompensa: 169.15779050305346 ------------------------------------------------- success
Jogo: 82 \ Raio: 1.2000000000000002 \ Ângulo: 100.0 Recompensa: 156.06856793945843 ------------------------------------------------- success
Jogo: 83 \ Raio: 1.2000000000000002 \ Ângulo: 110.0 Recompensa: 161.19443522244762 ------------------------------------------------- success
Jogo: 84 \ Raio: 1.2000000000000002 \ Ângulo: 119.99999999999999 Recompensa: 146.8756679950148 ------------------------------------------------- success
Jogo: 85 \ Raio: 1.2000000000000002 \ Ângulo: 130.0 Recompensa: 148.0037229871889 ------------------------------------------------- success
Jogo: 86 \ Raio: 1.2000000000000002 \ Ângulo: 140.0 Recompensa: 133.77178751798846 ------------------------------------------------- success
Jogo: 87 \ Raio: 1.2000000000000002 \ Ângulo: 150.00000000000003 Recompensa: 134.9810408873456 -------------------------------------------------
Jogo: 88 \ Raio: 1.2000000000000002 \ Ângulo: 160.0 Recompensa: -167.47686700947216 ------------------------------------------------- success
Jogo: 89 \ Raio: 1.2000000000000002 \ Ângulo: 170.0 Recompensa: 122.42529051136592 ------------------------------------------------- success
Jogo: 90 \ Raio: 1.2000000000000002 \ Ângulo: 180.0 Recompensa: 109.09534599644512 -------------------------------------------------
Jogo: 91 \ Raio: 1.2000000000000002 \ Ângulo: 190.0 Recompensa: -221.55249505914603 ------------------------------------------------- success
Jogo: 92 \ Raio: 1.2000000000000002 \ Ângulo: 200.0 Recompensa: 81.69568096371742 ------------------------------------------------- success
Jogo: 93 \ Raio: 1.2000000000000002 \ Ângulo: 209.99999999999997 Recompensa: 99.43590786021231 ------------------------------------------------- success
Jogo: 94 \ Raio: 1.2000000000000002 \ Ângulo: 220.0 Recompensa: 115.63283934074337 ------------------------------------------------- success
Jogo: 95 \ Raio: 1.2000000000000002 \ Ângulo: 229.99999999999997 Recompensa: 97.81524609085024 ------------------------------------------------- success
Jogo: 96 \ Raio: 1.2000000000000002 \ Ângulo: 239.99999999999997 Recompensa: 115.48442411928194 -------------------------------------------------
Jogo: 97 \ Raio: 1.2000000000000002 \ Ângulo: 249.99999999999997 Recompensa: -140.79351291114085 -------------------------------------------------
Jogo: 98 \ Raio: 1.2000000000000002 \ Ângulo: 260.0 Recompensa: -138.4475070427585 -------------------------------------------------
Jogo: 99 \ Raio: 1.2000000000000002 \ Ângulo: 270.0 Recompensa: -136.5975408067415 ------------------------------------------------- success
Jogo: 100 \ Raio: 1.2000000000000002 \ Ângulo: 280.0 Recompensa: 104.85663838635129 ------------------------------------------------- success
Jogo: 101 \ Raio: 1.2000000000000002 \ Ângulo: 290.0 Recompensa: 150.49806695388037 ------------------------------------------------- success
Jogo: 102 \ Raio: 1.2000000000000002 \ Ângulo: 300.00000000000006 Recompensa: 130.1223625779491 ------------------------------------------------- success
Jogo: 103 \ Raio: 1.2000000000000002 \ Ângulo: 310.0 Recompensa: 174.92351561549324 -------------------------------------------------
Jogo: 104 \ Raio: 1.2000000000000002 \ Ângulo: 320.0 Recompensa: -121.26399283934073 ------------------------------------------------- success
Jogo: 105 \ Raio: 1.2000000000000002 \ Ângulo: 329.99999999999994 Recompensa: 179.1274986138721 ------------------------------------------------- success
Jogo: 106 \ Raio: 1.2000000000000002 \ Ângulo: 340.0 Recompensa: 174.48823076915204 ------------------------------------------------- success
Jogo: 107 \ Raio: 1.2000000000000002 \ Ângulo: 350.00000000000006 Recompensa: 165.50117275677405 ------------------------------------------------- success
Jogo: 108 \ Raio: 1.3000000000000003 \ Ângulo: 0.0 Recompensa: 175.19734305643547 ------------------------------------------------- success
Jogo: 109 \ Raio: 1.3000000000000003 \ Ângulo: 10.0 Recompensa: 163.17937298806066 ------------------------------------------------- success
Jogo: 110 \ Raio: 1.3000000000000003 \ Ângulo: 20.0 Recompensa: 159.4408732366462 ------------------------------------------------- success
Jogo: 111 \ Raio: 1.3000000000000003 \ Ângulo: 29.999999999999996 Recompensa: 168.14680235764786 ------------------------------------------------- success
Jogo: 112 \ Raio: 1.3000000000000003 \ Ângulo: 40.0 Recompensa: 156.29563242489695 ------------------------------------------------- success
Jogo: 113 \ Raio: 1.3000000000000003 \ Ângulo: 50.0 Recompensa: 76.20683687084266 ------------------------------------------------- success
Jogo: 114 \ Raio: 1.3000000000000003 \ Ângulo: 59.99999999999999 Recompensa: 172.22450261294227 ------------------------------------------------- success
Jogo: 115 \ Raio: 1.3000000000000003 \ Ângulo: 70.0 Recompensa: 122.83652603919566 ------------------------------------------------- success
Jogo: 116 \ Raio: 1.3000000000000003 \ Ângulo: 80.0 Recompensa: 158.99854514417547 ------------------------------------------------- success
Jogo: 117 \ Raio: 1.3000000000000003 \ Ângulo: 90.0 Recompensa: 151.00984911489252 ------------------------------------------------- success
Jogo: 118 \ Raio: 1.3000000000000003 \ Ângulo: 100.0 Recompensa: 138.66075483875434 ------------------------------------------------- success
Jogo: 119 \ Raio: 1.3000000000000003 \ Ângulo: 110.0 Recompensa: 160.5966042633804 ------------------------------------------------- success
Jogo: 120 \ Raio: 1.3000000000000003 \ Ângulo: 119.99999999999999 Recompensa: 143.6391802034407 ------------------------------------------------- success
Jogo: 121 \ Raio: 1.3000000000000003 \ Ângulo: 130.0 Recompensa: 147.54588357415017 ------------------------------------------------- success
Jogo: 122 \ Raio: 1.3000000000000003 \ Ângulo: 140.0 Recompensa: 131.4408523577609 ------------------------------------------------- success
Jogo: 123 \ Raio: 1.3000000000000003 \ Ângulo: 150.00000000000003 Recompensa: 113.34645212709754 ------------------------------------------------- success
Jogo: 124 \ Raio: 1.3000000000000003 \ Ângulo: 160.0 Recompensa: 113.07194933404192 ------------------------------------------------- success
Jogo: 125 \ Raio: 1.3000000000000003 \ Ângulo: 170.0 Recompensa: 33.710305402594656 ------------------------------------------------- success
Jogo: 126 \ Raio: 1.3000000000000003 \ Ângulo: 180.0 Recompensa: 100.73271728922988 ------------------------------------------------- success
Jogo: 127 \ Raio: 1.3000000000000003 \ Ângulo: 190.0 Recompensa: 71.10275895196247 ------------------------------------------------- success
Jogo: 128 \ Raio: 1.3000000000000003 \ Ângulo: 200.0 Recompensa: 88.03271590981545 ------------------------------------------------- success
Jogo: 129 \ Raio: 1.3000000000000003 \ Ângulo: 209.99999999999997 Recompensa: 90.86165189298299 ------------------------------------------------- success
Jogo: 130 \ Raio: 1.3000000000000003 \ Ângulo: 220.0 Recompensa: 112.59808859322901 ------------------------------------------------- success
Jogo: 131 \ Raio: 1.3000000000000003 \ Ângulo: 229.99999999999997 Recompensa: 108.18203547608006 ------------------------------------------------- success
Jogo: 132 \ Raio: 1.3000000000000003 \ Ângulo: 239.99999999999997 Recompensa: 111.74824683351828 ------------------------------------------------- success
Jogo: 133 \ Raio: 1.3000000000000003 \ Ângulo: 249.99999999999997 Recompensa: 152.29586259198635 ------------------------------------------------- success
Jogo: 134 \ Raio: 1.3000000000000003 \ Ângulo: 260.0 Recompensa: 146.4561763301028 ------------------------------------------------- success
Jogo: 135 \ Raio: 1.3000000000000003 \ Ângulo: 270.0 Recompensa: 147.79946459259438 ------------------------------------------------- success
Jogo: 136 \ Raio: 1.3000000000000003 \ Ângulo: 280.0 Recompensa: 139.521820364218 ------------------------------------------------- success
Jogo: 137 \ Raio: 1.3000000000000003 \ Ângulo: 290.0 Recompensa: 168.08925077660456 ------------------------------------------------- success
Jogo: 138 \ Raio: 1.3000000000000003 \ Ângulo: 300.00000000000006 Recompensa: 168.1051305663767 ------------------------------------------------- success
Jogo: 139 \ Raio: 1.3000000000000003 \ Ângulo: 310.0 Recompensa: 173.91423960421403 ------------------------------------------------- success
Jogo: 140 \ Raio: 1.3000000000000003 \ Ângulo: 320.0 Recompensa: 170.7570618715288 ------------------------------------------------- success
Jogo: 141 \ Raio: 1.3000000000000003 \ Ângulo: 329.99999999999994 Recompensa: 180.30111711815186 ------------------------------------------------- success
Jogo: 142 \ Raio: 1.3000000000000003 \ Ângulo: 340.0 Recompensa: 175.66263068768853 ------------------------------------------------- success
Jogo: 143 \ Raio: 1.3000000000000003 \ Ângulo: 350.00000000000006 Recompensa: 166.2880135415813 ------------------------------------------------- success
Jogo: 144 \ Raio: 1.4000000000000004 \ Ângulo: 0.0 Recompensa: 162.19250414223876 ------------------------------------------------- success
Jogo: 145 \ Raio: 1.4000000000000004 \ Ângulo: 10.0 Recompensa: 147.54159636758547 ------------------------------------------------- success
Jogo: 146 \ Raio: 1.4000000000000004 \ Ângulo: 20.0 Recompensa: 159.99340870956055 ------------------------------------------------- success
Jogo: 147 \ Raio: 1.4000000000000004 \ Ângulo: 29.999999999999996 Recompensa: 169.18445311079532 ------------------------------------------------- success
Jogo: 148 \ Raio: 1.4000000000000004 \ Ângulo: 40.0 Recompensa: 156.57050118216944 -------------------------------------------------
Jogo: 149 \ Raio: 1.4000000000000004 \ Ângulo: 50.0 Recompensa: -141.9581854642827 -------------------------------------------------
Jogo: 150 \ Raio: 1.4000000000000004 \ Ângulo: 59.99999999999999 Recompensa: -135.39022928984534 -------------------------------------------------
Jogo: 151 \ Raio: 1.4000000000000004 \ Ângulo: 70.0 Recompensa: -129.25607235279693 ------------------------------------------------- success
Jogo: 152 \ Raio: 1.4000000000000004 \ Ângulo: 80.0 Recompensa: 157.99324258337543 ------------------------------------------------- success
Jogo: 153 \ Raio: 1.4000000000000004 \ Ângulo: 90.0 Recompensa: 171.49937590186636 ------------------------------------------------- success
Jogo: 154 \ Raio: 1.4000000000000004 \ Ângulo: 100.0 Recompensa: 155.19431528451804 ------------------------------------------------- success
Jogo: 155 \ Raio: 1.4000000000000004 \ Ângulo: 110.0 Recompensa: 105.96971917574507 ------------------------------------------------- success
Jogo: 156 \ Raio: 1.4000000000000004 \ Ângulo: 119.99999999999999 Recompensa: 90.57129964401214 ------------------------------------------------- success
Jogo: 157 \ Raio: 1.4000000000000004 \ Ângulo: 130.0 Recompensa: 145.69853429729983 ------------------------------------------------- success
Jogo: 158 \ Raio: 1.4000000000000004 \ Ângulo: 140.0 Recompensa: 129.12322753337554 ------------------------------------------------- success
Jogo: 159 \ Raio: 1.4000000000000004 \ Ângulo: 150.00000000000003 Recompensa: 129.04299134494727 -------------------------------------------------
Jogo: 160 \ Raio: 1.4000000000000004 \ Ângulo: 160.0 Recompensa: -178.12949285520102 ------------------------------------------------- success
Jogo: 161 \ Raio: 1.4000000000000004 \ Ângulo: 170.0 Recompensa: 96.23031201412257 ------------------------------------------------- success
Jogo: 162 \ Raio: 1.4000000000000004 \ Ângulo: 180.0 Recompensa: 46.74553206209012 ------------------------------------------------- success
Jogo: 163 \ Raio: 1.4000000000000004 \ Ângulo: 190.0 Recompensa: 65.88934238656435 ------------------------------------------------- success
Jogo: 164 \ Raio: 1.4000000000000004 \ Ângulo: 200.0 Recompensa: 89.53743179543828 -------------------------------------------------
Jogo: 165 \ Raio: 1.4000000000000004 \ Ângulo: 209.99999999999997 Recompensa: -207.44938658721128 ------------------------------------------------- success
Jogo: 166 \ Raio: 1.4000000000000004 \ Ângulo: 220.0 Recompensa: 88.3825991118145 ------------------------------------------------- success
Jogo: 167 \ Raio: 1.4000000000000004 \ Ângulo: 229.99999999999997 Recompensa: 93.28478050916067 ------------------------------------------------- success
Jogo: 168 \ Raio: 1.4000000000000004 \ Ângulo: 239.99999999999997 Recompensa: 128.6673103576505 ------------------------------------------------- success
Jogo: 169 \ Raio: 1.4000000000000004 \ Ângulo: 249.99999999999997 Recompensa: 96.32934926396125 ------------------------------------------------- success
Jogo: 170 \ Raio: 1.4000000000000004 \ Ângulo: 260.0 Recompensa: 165.0311534183556 ------------------------------------------------- success
Jogo: 171 \ Raio: 1.4000000000000004 \ Ângulo: 270.0 Recompensa: 164.16575200565856 ------------------------------------------------- success
Jogo: 172 \ Raio: 1.4000000000000004 \ Ângulo: 280.0 Recompensa: 177.54931814546947 ------------------------------------------------- success
Jogo: 173 \ Raio: 1.4000000000000004 \ Ângulo: 290.0 Recompensa: 151.4071823471889 ------------------------------------------------- success
Jogo: 174 \ Raio: 1.4000000000000004 \ Ângulo: 300.00000000000006 Recompensa: 166.43298652474863 ------------------------------------------------- success
Jogo: 175 \ Raio: 1.4000000000000004 \ Ângulo: 310.0 Recompensa: 176.94347855620293 ------------------------------------------------- success
Jogo: 176 \ Raio: 1.4000000000000004 \ Ângulo: 320.0 Recompensa: 173.8114483771973 ------------------------------------------------- success
Jogo: 177 \ Raio: 1.4000000000000004 \ Ângulo: 329.99999999999994 Recompensa: 179.1536702591647 ------------------------------------------------- success
Jogo: 178 \ Raio: 1.4000000000000004 \ Ângulo: 340.0 Recompensa: 176.93666160929143 ------------------------------------------------- success
Jogo: 179 \ Raio: 1.4000000000000004 \ Ângulo: 350.00000000000006 Recompensa: 186.0355712782649 ------------------------------------------------- success
Jogo: 180 \ Raio: 1.5000000000000004 \ Ângulo: 0.0 Recompensa: 162.5494607168108 ------------------------------------------------- success
Jogo: 181 \ Raio: 1.5000000000000004 \ Ângulo: 10.0 Recompensa: 170.0439547365815 ------------------------------------------------- success
Jogo: 182 \ Raio: 1.5000000000000004 \ Ângulo: 20.0 Recompensa: 81.86377534183976 ------------------------------------------------- success
Jogo: 183 \ Raio: 1.5000000000000004 \ Ângulo: 29.999999999999996 Recompensa: 169.73274149895028 ------------------------------------------------- success
Jogo: 184 \ Raio: 1.5000000000000004 \ Ângulo: 40.0 Recompensa: 93.05627451098688 -------------------------------------------------
Jogo: 185 \ Raio: 1.5000000000000004 \ Ângulo: 50.0 Recompensa: -167.77922410581627 -------------------------------------------------
Jogo: 186 \ Raio: 1.5000000000000004 \ Ângulo: 59.99999999999999 Recompensa: -140.76180466094576 ------------------------------------------------- success
Jogo: 187 \ Raio: 1.5000000000000004 \ Ângulo: 70.0 Recompensa: 178.4918939755866 ------------------------------------------------- success
Jogo: 188 \ Raio: 1.5000000000000004 \ Ângulo: 80.0 Recompensa: 165.37745410491277 ------------------------------------------------- success
Jogo: 189 \ Raio: 1.5000000000000004 \ Ângulo: 90.0 Recompensa: 147.1772957664248 ------------------------------------------------- success
Jogo: 190 \ Raio: 1.5000000000000004 \ Ângulo: 100.0 Recompensa: 80.9913700622677 ------------------------------------------------- success
Jogo: 191 \ Raio: 1.5000000000000004 \ Ângulo: 110.0 Recompensa: 106.96841749366799 ------------------------------------------------- success
Jogo: 192 \ Raio: 1.5000000000000004 \ Ângulo: 119.99999999999999 Recompensa: 137.42882527646665 ------------------------------------------------- success
Jogo: 193 \ Raio: 1.5000000000000004 \ Ângulo: 130.0 Recompensa: 116.22942820315434 ------------------------------------------------- success
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Jogo: 195 \ Raio: 1.5000000000000004 \ Ângulo: 150.00000000000003 Recompensa: -179.05911031644644 ------------------------------------------------- success
Jogo: 196 \ Raio: 1.5000000000000004 \ Ângulo: 160.0 Recompensa: 107.7719263198496 ------------------------------------------------- success
Jogo: 197 \ Raio: 1.5000000000000004 \ Ângulo: 170.0 Recompensa: 27.648281487955643 ------------------------------------------------- success
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Jogo: 199 \ Raio: 1.5000000000000004 \ Ângulo: 190.0 Recompensa: -234.05736325403439 ------------------------------------------------- success
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Jogo: 201 \ Raio: 1.5000000000000004 \ Ângulo: 209.99999999999997 Recompensa: -213.02042108250785 ------------------------------------------------- success
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Jogo: 205 \ Raio: 1.5000000000000004 \ Ângulo: 249.99999999999997 Recompensa: 141.11203193284575 ------------------------------------------------- success
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Jogo: 207 \ Raio: 1.5000000000000004 \ Ângulo: 270.0 Recompensa: -133.75666927932224 ------------------------------------------------- success
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Jogo: 210 \ Raio: 1.5000000000000004 \ Ângulo: 300.00000000000006 Recompensa: 150.15412588422186 ------------------------------------------------- success
Jogo: 211 \ Raio: 1.5000000000000004 \ Ângulo: 310.0 Recompensa: 169.44221380035535 ------------------------------------------------- success
Jogo: 212 \ Raio: 1.5000000000000004 \ Ângulo: 320.0 Recompensa: 172.2947404978688 ------------------------------------------------- success
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Jogo: 215 \ Raio: 1.5000000000000004 \ Ângulo: 350.00000000000006 Recompensa: 173.0605815672536 ------------------------------------------------- success
Jogo: 216 \ Raio: 1.6000000000000005 \ Ângulo: 0.0 Recompensa: 162.7248329346874 ------------------------------------------------- success
Jogo: 217 \ Raio: 1.6000000000000005 \ Ângulo: 10.0 Recompensa: 146.752129521406 ------------------------------------------------- success
Jogo: 218 \ Raio: 1.6000000000000005 \ Ângulo: 20.0 Recompensa: 162.68077130943846 ------------------------------------------------- success
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Jogo: 220 \ Raio: 1.6000000000000005 \ Ângulo: 40.0 Recompensa: -140.62885011304215 -------------------------------------------------
Jogo: 221 \ Raio: 1.6000000000000005 \ Ângulo: 50.0 Recompensa: -141.62505580250252 -------------------------------------------------
Jogo: 222 \ Raio: 1.6000000000000005 \ Ângulo: 59.99999999999999 Recompensa: -156.24604117934965 -------------------------------------------------
Jogo: 223 \ Raio: 1.6000000000000005 \ Ângulo: 70.0 Recompensa: -137.49928530560672 ------------------------------------------------- success
Jogo: 224 \ Raio: 1.6000000000000005 \ Ângulo: 80.0 Recompensa: 139.7371858486327 ------------------------------------------------- success
Jogo: 225 \ Raio: 1.6000000000000005 \ Ângulo: 90.0 Recompensa: 170.6578765437268 -------------------------------------------------
Jogo: 226 \ Raio: 1.6000000000000005 \ Ângulo: 100.0 Recompensa: -154.49165162474313 ------------------------------------------------- success
Jogo: 227 \ Raio: 1.6000000000000005 \ Ângulo: 110.0 Recompensa: 157.4440763247997 -------------------------------------------------
Jogo: 228 \ Raio: 1.6000000000000005 \ Ângulo: 119.99999999999999 Recompensa: -166.93553826781846 ------------------------------------------------- success
Jogo: 229 \ Raio: 1.6000000000000005 \ Ângulo: 130.0 Recompensa: 141.4527893036266 ------------------------------------------------- success
Jogo: 230 \ Raio: 1.6000000000000005 \ Ângulo: 140.0 Recompensa: 88.71868511509618 ------------------------------------------------- success
Jogo: 231 \ Raio: 1.6000000000000005 \ Ângulo: 150.00000000000003 Recompensa: 104.52248167573032 -------------------------------------------------
Jogo: 232 \ Raio: 1.6000000000000005 \ Ângulo: 160.0 Recompensa: -190.0686863472009 ------------------------------------------------- success
Jogo: 233 \ Raio: 1.6000000000000005 \ Ângulo: 170.0 Recompensa: 49.467239110694095 ------------------------------------------------- success
Jogo: 234 \ Raio: 1.6000000000000005 \ Ângulo: 180.0 Recompensa: 72.51905945749832 -------------------------------------------------
Jogo: 235 \ Raio: 1.6000000000000005 \ Ângulo: 190.0 Recompensa: -229.57727664784196 -------------------------------------------------
Jogo: 236 \ Raio: 1.6000000000000005 \ Ângulo: 200.0 Recompensa: -226.40372911748236 -------------------------------------------------
Jogo: 237 \ Raio: 1.6000000000000005 \ Ângulo: 209.99999999999997 Recompensa: -208.10038167696865 -------------------------------------------------
Jogo: 238 \ Raio: 1.6000000000000005 \ Ângulo: 220.0 Recompensa: -194.8428465567917 ------------------------------------------------- success
Jogo: 239 \ Raio: 1.6000000000000005 \ Ângulo: 229.99999999999997 Recompensa: 82.15855227224264 ------------------------------------------------- success
Jogo: 240 \ Raio: 1.6000000000000005 \ Ângulo: 239.99999999999997 Recompensa: 127.00947226194783 ------------------------------------------------- success
Jogo: 241 \ Raio: 1.6000000000000005 \ Ângulo: 249.99999999999997 Recompensa: 141.063592517408 ------------------------------------------------- success
Jogo: 242 \ Raio: 1.6000000000000005 \ Ângulo: 260.0 Recompensa: 162.17151511963013 -------------------------------------------------
Jogo: 243 \ Raio: 1.6000000000000005 \ Ângulo: 270.0 Recompensa: -136.1145216695064 ------------------------------------------------- success
Jogo: 244 \ Raio: 1.6000000000000005 \ Ângulo: 280.0 Recompensa: 175.19501491639636 ------------------------------------------------- success
Jogo: 245 \ Raio: 1.6000000000000005 \ Ângulo: 290.0 Recompensa: 173.40075127227357 ------------------------------------------------- success
Jogo: 246 \ Raio: 1.6000000000000005 \ Ângulo: 300.00000000000006 Recompensa: 185.92259844403765 ------------------------------------------------- success
Jogo: 247 \ Raio: 1.6000000000000005 \ Ângulo: 310.0 Recompensa: 182.91027623235934 ------------------------------------------------- success
Jogo: 248 \ Raio: 1.6000000000000005 \ Ângulo: 320.0 Recompensa: 174.52904104040493 ------------------------------------------------- success
Jogo: 249 \ Raio: 1.6000000000000005 \ Ângulo: 329.99999999999994 Recompensa: 158.0117309796197 ------------------------------------------------- success
Jogo: 250 \ Raio: 1.6000000000000005 \ Ângulo: 340.0 Recompensa: 181.38366987525043 ------------------------------------------------- success
Jogo: 251 \ Raio: 1.6000000000000005 \ Ângulo: 350.00000000000006 Recompensa: 145.85911829485835 -------------------------------------------------
In [13]:
import matplotlib.pyplot as plt
radius, angles = zip(*success_games)
plt.figure()
ax = plt.subplot(111, projection='polar')
scatter = ax.scatter(angles, radius, color='blue')
ax.set_ylim(0.8, 1.55)
ax.set_xticks([0, np.pi/4, np.pi/2, 3*np.pi/4, np.pi, 5*np.pi/4, 3*np.pi/2, 7*np.pi/4])
ax.set_xticklabels(['0°', '45°', '90°', '135°', '180°', '225°', '270°', '315°'])
percentage = len(success_games) / 250 * 100
percentage_formatted = f"{percentage:.2f}%"
plt.figtext(0.5, 0, f'Taxa de sucesso: {percentage_formatted}', ha='center', fontsize=12)
plt.title('Gráfico de Testes Bem-Sucedidos do Robô Treinado')
plt.show()
